This is a modified ORB-SLAM2(Raul Mur-Artal's opensource project), with a online point clund map running in RGBD mode(with and without ROS), and generating a octomap too(Not runing time now, but it will be soon). Besides, the STEREO with ROS has modified for MAV based on PIXHAWK.

Just follow the instruction of ORB-SLAM2.

At the bottom of /Examples/RGB-D/TUMx.yaml, some parameters added to control point cloud mapping or not, and the resolution.

Thanks Raul Mur-Artal for open his incredible work ORB-SLAM2.

Thanks GaoXiang for his helpful blog.