Update for unpacked ROB_SLAM with pcl view repo

build:

First compile g2o and DBoW in the thirdparty folder. Then compile orb slam.

    mkdir build
    cd build
    cmake ..
    make -j

Run with Orbbec astra

Extract the vocabulary file under Vocabulary folder

under your orb_slam2_astra folder, run this command:

./bin/rgbd_astra ./Vocabulary/ORBvoc.txt ./Examples/RGB-D/astra.yaml