PL-SLAM ROS Wrapper

This code contains a simple ROS wrapper for it's use along with our stereo visual SLAM by using both point and line segment features project:

https://github.com/rubengooj/pl-slam

Notice that for representation purposes we are using our MRPT-based visualizer, but it can be used with any other representation class by modifying the project.

Usage:

./plslam <params_file> <config_file> <params_file> - file with the camera configuration <config_file> - file with the VO configuration (optional)

PerceptIn Sensor

We also provide a modified version of the following repository:

https://github.com/Shuailing-Li/PerceptIn_ROS

to stream the PerceptIn stereo sensor. The repository can be found in:

https://github.com/rubengooj/PerceptIn_ROS