- 将ORBSLAM_with_pointcloud_map文件夹下的include和src替换原始ORBslam2的对应文件夹
- rgbd_tum.cc也替换掉
- 最外面的CMakeLists.txt也替换掉,修改内容去掉rgbd_my那个可执行文件和vocabulary可执行文件
add_executable(bin_vocabulary
tools/bin_vocabulary.cc)
target_link_libraries(bin_vocabulary ${PROJECT_NAME})
add_executable(rgbd_my
Examples/RGB-D/rgbd_my.cc)
target_link_libraries(rgbd_my ${PROJECT_NAME})
- 修改system.cc中的resolution
//float resolution = fsSettings["PointCloudMapping.Resolution"];
float resolution = 0.01;
若有其他问题,可以看看别人的解决办法。