# ORB_SLAM2_SparseMapping

**Repository Path**: DJ_xi/orb-slam2-sparsemapping

## Basic Information

- **Project Name**: ORB_SLAM2_SparseMapping
- **Description**: ORB_SLAM2 稀疏点云建图
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2023-03-27
- **Last Updated**: 2023-05-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ORB_SLAM2_SparseMapping

#### 介绍
本代码实现ORB_SLAM2稀疏点云建图，基于[https://github.com/raulmur/ORB_SLAM2](https://github.com/raulmur/ORB_SLAM2)修改代码，具体修改内容可参考[《Ubuntu20+D435跑通ORB-SLAM2教程二》](https://blog.csdn.net/dong123456789e/article/details/129593987)、[《Ubuntu20+D435跑通ORB-SLAM2教程三》](https://blog.csdn.net/dong123456789e/article/details/129624285)篇


#### 安装教程

1.  创建ROS工作空间catkin_ws

2.  下载文件并解压缩将文件夹中的ORB_SLAM2放在以下目录：
```
/home/(user_name)/catkin_ws
```
3.  在[https://cvg.cit.tum.de/data/datasets/rgbd-dataset/download](https://cvg.cit.tum.de/data/datasets/rgbd-dataset/download)下载数据集到/home/(用户名)/catkin_ws/ORB_SLAM2/data目录下

#### 使用说明

1.  环境配置请参考[《Ubuntu20+D435跑通ORB-SLAM2教程一-环境配置》](https://blog.csdn.net/dong123456789e/article/details/129693837)
2.  数据集&相机运行请参考[《Ubuntu20+D435跑通ORB-SLAM2教程汇总》](https://blog.csdn.net/dong123456789e/article/details/129794988)