Update README.md

README.md

@@ -1,10 +1,11 @@
-# YOLO_ORB_SLAM3
+# YOLO_ORB_SLAM3_with_pointcloud_map
 Combine YOLOv5 with ORB-SLAM3
 - Object Detect
 - Dynamic SLAM
+- PointCloudMapping
 
-~~![Fig1](/home/yuwenlu/MyCode/Fig1.png)~~
-![Fig2](/home/yuwenlu/MyCode/Fig2.png)
+
+![Fig](https://raw.githubusercontent.com/YWL0720/YOLO_ORB_SLAM3_with_pointcloud_map/master/Fig.png)
 ## Geting Started
 ### 1. Install libtorch
 ```bash
@@ -14,21 +15,21 @@ mv libtorch/ PATH/YOLO_ORB_SLAM3/Thirdparty/
 ```
 ### 2. Build
 ```bash
-cd YOLO_ORB_SLAM3
+cd YOLO_ORB_SLAM3_with_pointcloud_map
 chmod +x build.sh
 ./build.sh
 ```
 
 Only the rgbd_tum target will be build.
 
 ### 3. Build ROS Examples
-Add the path including *Examples/ROS/YOLO_ORB_SLAM3* to the ROS_PACKAGE_PATH environment variable. Open .bashrc file:
+Add the path including *Examples/ROS/YOLO_ORB_SLAM3_with_pointcloud_map* to the ROS_PACKAGE_PATH environment variable. Open .bashrc file:
 ```bash
 gedit ~/.bashrc
 ```
 and add at the end the following line. Replace PATH by the folder where you cloned YOLO_ORB_SLAM3:
 ```bash
-export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/YOLO_ORB_SLAM3/Examples/ROS
+export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/YOLO_ORB_SLAM3_with_pointcloud_map/Examples/ROS
 ```
 Then build
 ```bash
@@ -41,8 +42,23 @@ Only the RGBD target has been improved.
 The frequency of camera topic must be lower than 15 Hz.
 
 You can run this command to change the frequency of topic which published by the camera driver. 
+```bash
+roslaunch YOLO_ORB_SLAM3_with_pointcloud_map camera_topic_remap.launch
+```
+## Try
+We tested on Ubuntu20.04 + ROS noetic + OpenCV4.2 + Pangolin0.5 + Eigen3.3.9 + PCL1.12.1
+
+### TUM Dataset
+
+```bash
+./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE
+```
+
+### ROS
+
 ```bash
 roslaunch YOLO_ORB_SLAM3 camera_topic_remap.launch
+rosrun YOLO_ORB_SLAM3_with_pointcloud_map RGBD PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE
 ```
 
 ---