README.md

ORBSLAM2-OCTOMAP

参考https://github.com/RuPingCen/publish_pointcloud，实现RIVZ显示OCTOMAP

Saving the LocalMapping verified MapPoints as PCD files, transmitting them through a topic to RVIZ, and converting them into OctoTree for visualization.

效果：https://www.bilibili.com/video/BV1Ly421q7Zt/?spm_id_from=333.999.0.0&vd_source=dc41f1916184015842f017759e60517c