Re: How to built RtabMap with ORB-SLAM3

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-built-RtabMap-with-ORB-SLAM3-tp8195p8317.html


Hi,

Here are the advantages and disadvantages of the two options:
1) no need to rebuild rtabmap, start ORB_SLAM3 package and connect odometry topic if available. I say "if available" because starting ORB_SLAM3 like that, it will do loop closure detection inside ORB_SLAM3, so not very usable with rtabmap (unless you comment or disable loop closure detection inside ORB_SLAM3 package). This option could do VIO + RTAB-Map configuration.
2) IMU support with ORB_SLAM3 odometry inside rtabmap's odometry is not implemented. Only Stereo/RGB-D ORB_SLAM3 is usable inside rtabmap's odometry. rtabmap should be rebuilt from source to have this option (make sure cmake shows "With ORB_SLAM = YES" to know that orbslam3 is detected by the build system).

cheers,
Mathieu