Re: How to use ORB_SLAM2 library in rtabmap?

Posted by BerberechoRick on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-ORB-SLAM2-library-in-rtabmap-tp4230p5935.html

Hi Matt I have used before this implementation but because I'm trying to test different approaches I had to uninstall and install several times as I guess different options to test.

The purpose to come again to this thread is that I try to install it as I did before but here you can see despite doing the cmake with g2o off it is still operative

and despite orbslam2 is recognised in the installation I can't choose it in the odometry

I had steps to follow with orbslam2 installation and rtabmap but as I see you've been adding and fixing, the rtabmap steps are already included in the git clone rtabmap
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
folder src
folder tools
include/System.h
Thirdparty/DBoW2/DBoW2/TemplatedVocabulary.h
build.sh (modify the last line depending the system in which is installed)
CMakeLists.txt //comment -O3 -march native in orbslam2 and thirdparties: g2o and dbow2

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall")#  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")#   -O3 -march=native")

Am I missing something?