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raulmur committed Jan 23, 2016
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ORB-SLAM2 is a real-time SLAM library for **Monocular**, **Stereo** and **RGB-D** cameras, that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the system in the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, and in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular. We also provide a ROS node to process live monocular or RGB-D streams. **The system can be compiled without ROS**. ORB-SLAM2 provides an interface to change between *SLAM Mode* and *Localization Mode* (only camera tracking, no map building).

**Notice for ORB-SLAM Monocular users:**
The monocular capabilities of ORB-SLAM2 compared to [ORB-SLAM Monocular](https://github.com/raulmur/ORB_SLAM), are similar. However in ORB-SLAM2 we apply a full bundle adjustment after a loop closure, the extraction of ORB is slightly different (trying to improve the dispersion on the image) and the tracking is also slighly faster. The interface of ORB-SLAM2 also provides you new capabilities as the *modes* mentioned above and a reset button. We recommend you to try this new software :)
The monocular capabilities of ORB-SLAM2 compared to [ORB-SLAM Monocular](https://github.com/raulmur/ORB_SLAM), are similar. However in ORB-SLAM2 we apply a full bundle adjustment after a loop closure, the extraction of ORB is slightly different (trying to improve the dispersion on the image) and the tracking is also slightly faster. The interface of ORB-SLAM2 also provides you new capabilities as the *modes* mentioned above and a reset button. We recommend you to try this new software :)

###Related Publications:

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Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. **Required at least 3.1.0**.

##2.4 DBoW2 and g2o (Included in Thirdparty folder)
We use modified versions of the [DBoW2](https://github.com/dorian3d/DBoW2) library to perform place recognition and [g2o](https://github.com/RainerKuemmerle/g2o) library to perform non-linear optimizations. Both modified libraries (which are both BSD) are included in the Thirdparty folder).
We use modified versions of the [DBoW2](https://github.com/dorian3d/DBoW2) library to perform place recognition and [g2o](https://github.com/RainerKuemmerle/g2o) library to perform non-linear optimizations. Both modified libraries (which are both BSD) are included in the Thirdparty folder.

##2.5 ROS (optional)
We provide some examples to process the live input of a monocular or RGB-D camera using [ROS](ros.org). Building these examples is optional. In case you want to use ROS, a version Hydro or newer is needed.
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git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
```

We provide a script `build.sh` to build the *Thirdparty* libraries and *ORB-SLAM2*. You will need to give first execute persmissions. At ORB_SLAM2 directory, execute:
We provide a script `build.sh` to build the *Thirdparty* libraries and *ORB-SLAM2*. You will need to give first execute permissions. At ORB_SLAM2 directory, execute:
```
chmod +x build.sh
./build.sh
```

This will create **libORB_SLAM.so** at *lib* folder and the exectuables **mono_tum**, **mono_kitti**, **rgbd_tum**, **stereo_kitti** in *Examples* folder.
This will create **libORB_SLAM.so** at *lib* folder and the executables **mono_tum**, **mono_kitti**, **rgbd_tum**, **stereo_kitti** in *Examples* folder.

#4. Monocular Examples

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#7. ROS Examples

1. First add the path including *Examples/ROS/ORB_SLAM2* to the ROS_PACKAGE_PATH enviroment variable. Open .bashrc file and add at the end the following line. Replace PATH by the folder where you cloned ORB_SLAM2:
1. First add the path including *Examples/ROS/ORB_SLAM2* to the ROS_PACKAGE_PATH environment variable. Open .bashrc file and add at the end the following line. Replace PATH by the folder where you cloned ORB_SLAM2:

```
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

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