rgbdslam_cg

根据高翔博客 一起做RGB-D SLAM（其代码在 gaoxiang12/rgbd-slam-tutorial-gx），从零搭建 RGBD-SLAM。

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Dependencies

• Eigen3
• OpenCV3
• PCL 1.7
• G2O (the lastest version)

Build

mkdir build & cd build
cmake ..
make -j2

Run

cd build

../bin/generate_pointcloud

../bin/detect_features

../bin/join_pointcloud

../bin/visual_odometry

../bin/rgbdslam

Result

• result of bin/visual_odometry

  

• g2o_viewer result_after.g2o, the result of bin/rgbdslam