/SimpleLoopDetect

Primary LanguageC++OtherNOASSERTION

Prerequisites

boost

sudo apt-get install libboost-dev libboost-filesystem-dev

Eigen3

sudo apt-get install libeigen3

DBoW2

Install from dorian3d/DBoW2

Usage

rosrun LoopDetector myloopdetector path_to_vocabulary paht_to_BRIEF_PATTERN_FILE

For example:

rosrun LoopDetector myloopdetector /home/bobo/catkin_ws/src/LoopDetector/build/resources/brief_k10L6.voc.gz /home/bobo/catkin_ws/src/LoopDetector/build/resources/brief_pattern.yml

OR

cd build
./myloopdetector /home/bobo/catkin_ws/src/LoopDetector/build/resources/brief_k10L6.voc.gz /home/bobo/catkin_ws/src/LoopDetector/build/resources/brief_pattern.yml