2020-10-26
According to ORB_SLAM3, the ROS interface of RGBD-inertial mode is rewritten to avoid queue congestion. The parameter file of Kinect for azure is provided.
依据ORB_SLAM3重写了RGBD-IMU的ROS接口,避免出现队列拥塞,提供了Kinect for Azure的参数文件
2020-8-5
RGBD-inertial mode and its ROS interface was added to ORB_SLAM3.
ROS interfaces Mono_inertial and Stereo_inertial were provided.
Modified the loading vocabulary in a faster binary way.
增加了RGBD-IMU的运行模式和ROS接口,增加了单目IMU和双目IMU的ROS接口,替换了词典为二进制格式,加载速度更快。
Command
RGBD: rosrun ORB_SLAM3 RGBD /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml
RGBD_inertial: rosrun ORB_SLAM3 RGBD_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml
Stereo_inertial: rosrun ORB_SLAM3 Stereo_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml
Mono_inertial: rosrun ORB_SLAM3 Mono_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml
RGBD-inertial Mode Tested with d435i rosbag:
https://star-center.shanghaitech.edu.cn/seafile/d/0ea45d1878914077ade5/