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-tp4230p4476.html

Hi,

If rtabmap is built with ORB-SLAM2 like above, you can set "Odom/Strategy" parameter to 5 for the rgbd_odometry or stereo_odometry node. You will also need to set "OdomORBSLAM2/VocPath" to path of the vocabulary in ORB-SLAM2 project.

Cheers,
Mathieu