Re: How to use ORB_SLAM2 library in rtabmap?

Posted by Mosquito on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-ORB-SLAM2-library-in-rtabmap-tp4230p4235.html

Thank you Mathieu for your reply!!!!!!
With your ｈｅｌｐ，I have succeed run rtabmap　with ORBSLAM2 after several attempts.
Ｉ write  my steps down and hope to help more peoples.It is as follow:
1.add "export ORB_SLAM2_ROOT_DIR=/home/minipc/ORB_SLAM2-master " in /home/minipc/ .zshrc file.
2.change 218th row in /tools/RgbdDataset/main.cpp :
change :OdometryF2M odom(parameters); to OdometryORBSLAM2 odom(parameters);
3. cmake -DWITH_G2O=OFF ..
4.make
5 ./rtabmap-rgbd_dataset --OdomORBSLAM2/VocPath "/home/minipc/ORB_SLAM2-master/Vocabulary/ORBvoc.txt" /home/minipc/ORBSLAM2_Octomap2/dataset/rgbd_dataset_freiburg1_desk

Thank you again!