xieqi1 / orbslam3_noted Goto Github PK

Hi everyone.
I Start working on ORBSLAM3, I used of:
Ubuntu 20.04
Camera: RealSense T265
Jetson xavier jetPack 5.1.2
L4T: 35.4.1
RealSense SDK 2.50.0
Open CV: 4.5.4
when I run ORBSLAM3 it can detect points and path in Orbslam Map viewer, But when I move camera, every minute points and path disappear and it start again... how I can fix this issue? it's need special config to can show path and points realtime??

Problem 2:
I read calibration pdf, it say you should configure TBC1 and TC1C2 in stereo Inertial, and it say Camera2(c2) is Right Camera in T265
but in RealSense_T265.yaml is C2 as left Camera:
Transformation matrix from right camera to left camera

Stereo.T_c1_c2: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379,
-0.00443664, 0.999984, -0.00347621, -0.000252007856033742,
-0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05,
0.0, 0.0, 0.0, 1.0]

which is Correct? please Help me for these issues.