Comments (16)
Also support for ROS2 (I'm maintainer on ROS2 navigation2, would love to do testing with this!) would be great. I'd like to make formally supported integrations with this and ROS2 with navigation2 (https://github.com/ros-planning/navigation2).
I see a few ORB-SLAM2 references that weren't changed: https://github.com/UZ-SLAMLab/ORB_SLAM3/search?p=1&q=ORB_SLAM2&unscoped_q=ORB_SLAM2
Do you intend to support this and improve on it or is this a one-and-done research project? I ask because if we do some integrations with navigation2 we'll likely make improvements and want to know if we should fork this for the ROS world or submit PRs back here if there's support.
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just change ORBSLAM2::System into ORBSLAM3::System, I can compile the code by catkin_make
哈 那效果呢 是新版本的效果了吧 不知道会不会有什么问题
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I commited two visual-inertial ROS interfaces Mono_inertial and Stereo_inertial at https://github.com/xiefei2929/ORB_SLAM3-ROS-Interface
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ros代码里面的那些命名空间还是ORBSLAM2
from orb_slam3.
ros代码里面的那些命名空间还是ORBSLAM2
是啊 所以不知道啥意思
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关于VIO的ros代码作者没有提供;不过由于兼容了ORBSLAM2的一些函数,所以orbslam3中基于ros的视觉里程计代码理论上还是能跑的,不过要改一些变量名,命名空间杀啥的。。
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关于VIO的ros代码作者没有提供;不过由于兼容了ORBSLAM2的一些函数,所以orbslam3中基于ros的视觉里程计代码理论上还是能跑的,不过要改一些变量名,命名空间杀啥的。。
好的吧 再等等先
from orb_slam3.
As I see this code uses ORB_SLAM2
class, not ORB_SLAM3
.
from orb_slam3.
@Sunchanghao I see that authors have already provided a ROS example: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/Examples/ROS/ORB_SLAM3/src/ros_stereo.cc
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+1
from orb_slam3.
As I see this code uses
ORB_SLAM2
class, notORB_SLAM3
.
Have you tested the effect?
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Also support for ROS2 (I'm maintainer on ROS2 navigation2, would love to do testing with this!) would be great. I'd like to make formally supported integrations with this and ROS2 with navigation2 (https://github.com/ros-planning/navigation2).
I see a few ORB-SLAM2 references that weren't changed: https://github.com/UZ-SLAMLab/ORB_SLAM3/search?p=1&q=ORB_SLAM2&unscoped_q=ORB_SLAM2
Do you intend to support this and improve on it or is this a one-and-done research project? I ask because if we do some integrations with navigation2 we'll likely make improvements and want to know if we should fork this for the ROS world or submit PRs back here if there's support.
good job!
therefor, the interface in the current vision is ORB_SLAM2?
from orb_slam3.
just change ORBSLAM2::System into ORBSLAM3::System, I can compile the code by catkin_make
from orb_slam3.
ORBSLAM3 haven't provide source code of vio based ros.
from orb_slam3.
I change the code 'ORBSLAM2' to 'ORBSLAM3' and success build and launch.
But there is no mono-inertial or stereo-inertial code in Example/ROS
from orb_slam3.
I change the code 'ORBSLAM2' to 'ORBSLAM3' and success build and launch.
But there is no mono-inertial or stereo-inertial code in Example/ROS
There also seems to be no odometer~
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Related Issues (20)
- Documentation for camera settings HOT 1
- How can I save point cloud? HOT 1
- Why can't i achieve the accuracy in the paper HOT 2
- Segmentation fault (core dumped) HOT 20
- The project broken when go into BA
- The project broken when go into BA HOT 2
- Persistent rs2::invalid_value_error on RealSense D435i with ORB-SLAM3 Across Firmware and SDK Versions HOT 1
- Questions on Camera Calibration and Exporting 3D Maps and Point Clouds in ORB-SLAM3
- Build error make[1]: *** [CMakeFiles/Makefile2:148: CMakeFiles/ORB_SLAM3.dir/all] Error 2 HOT 1
- The yaml's question
- Has Sophus-nan error been submitted in the main version https://github.com/UZ-SLAMLab/ORB_SLAM3 and solved? I still encountered this problem when using it recently HOT 1
- OAK-D Pro HOT 2
- Key points and descriptors
- Difference between SaveTrajectoryTUM and SaveTrajectoryEuRoC
- Segmentation fault inside KeyFrame::GetImuPosition()
- Can I load a map and localize the camera and pose within the map?
- mbActivateLocalizationMode(True)
- TUM VI dataset results do not match with the one presented in the paper
- ORB SLAM3-Can't Save the Trajectory in Stereo-Inertial Mode
- D4359i stereo_inertial, orb slam 3 keeps initialising
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