Based on Structure-PLP-SLAM
- Remove the Plan-Segment part, use points and lines only.
- Use fbow to replace DBoW2.
- Fix some bug about freezing and segment fault.
- Add python binding using pybind11(currently monocular only, modify on your own to support more types of camera).
- Integrate COLMAP txet format as additional output (no databse.db).
- Integrate generating OpenMVS scene through official interface.
- Make sure you have installed
opencv 3.4.16+oropencv 4 pangolin,openMVSandsocket.ioare optional.- Change the CMakeLists.txt on your own purpose.
# build thrid party
./build_3rd.sh
# build slam
mkdir build
cd build
cmake .. -DBUILD_PYBIND=ON -DBUILD_PANGOLIN_VIEWER=ON -DBUILD_EXAMPLES=ON -DUSE_PANGOLIN_VIEWER=ON
make -j