This is a modified ORB-SLAM2 (from https://github.com/raulmur/ORB_SLAM2) with a visualization module. I only add the visualization module to ORB SLAM2 (from https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map) to maintain the original function of ORB-SLAM2.
This repository exists for only show the source code. If you want to run this module, please use the docker image (https://hub.docker.com/repository/docker/lrrghdrh/pure_orb_slam2_with_pcl).
I added the function that save the map point (SaveMapPointsKITTI).
If you want to use this fuction, copy and paste the System.h and System.cc files into each file in the docker image.
