Re: RTABMAP_ROS with ORBSLAM3

Posted by jinjo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-ORBSLAM3-tp10153p10160.html

Here I provide the sample bag and config files with extrinsic and intrinsic.

 pohang.yaml
pohang_stereo_imu_config.yaml

Sample bag link

https://www.transfernow.net/dl/20240523bEtH9i1I


I have integrated the VINS-Fusion and OpenVINS along with Orb-SLAM3 in the same docker file and all seems to have the same issue.

Docker file :

Dockerfile.Dockerfile

Orb-slam3 patch:

orbslam3_rtabmap_fix.patch

Vins-Fusion patch:

vins-fusion.patch

Launch files :

pohang_orb.launch
pohang_ov.launch
pohang_vins.launch

Please let me know if I am missing something or any other files you may need. Thanks for your efforts!!