Re: How to use ORB_SLAM2 library in rtabmap?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-ORB-SLAM2-library-in-rtabmap-tp4230p4233.html

Hi,

As it is said, set WITH_G2O to off on cmake:

$ cmake -DWITH_G2O=OFF ..

Then to make cmake find ORB_SLAM2, look in findORB_SLAM2.cmake: you have to set an environment variable called ORB_SLAM2_ROOT_DIR that points to root directory of ORB SLAM2 source directory.

Note that ORB_SLAM2 integration is still experimental. To use it, set odometry strategy to ORB_SLAM2 (or Odom/Strategy to 5).

Cheers,
Mathieu