Awesome

ORB_SLAM3-RGBD-Inertial

2020-12-22

Add parameter IMU.shift to correct the time shift between IMU and camera, and record a rosbag of Kinect for Azure for test.

添加时间差参数项校正IMU与相机的时间差，录制Kinect for Azure的rosbag以供测试

使用方法/How to use：

链接: https://pan.baidu.com/s/1MoQn6SJUp5hYA2HcJ9a5fw 密码: 5s8q

rosbag decompress *.bag

rosrun ORB_SLAM3 RGBD_inertial Vocabulary/ORBvoc.bin Examples/ROS/ORB_SLAM3/MyK4A.yaml

rosbag play orb3_05.bag

2020-10-26

According to ORB_SLAM3, the ROS interface of RGBD-inertial mode is rewritten to avoid queue congestion. The parameter file of Kinect for azure is provided.

依据ORB_SLAM3重写了RGBD-IMU的ROS接口，避免出现队列拥塞，提供了Kinect for Azure的参数文件

2020-8-5

RGBD-inertial mode and its ROS interface was added to ORB_SLAM3.

ROS interfaces Mono_inertial and Stereo_inertial were provided.

Modified the loading vocabulary in a faster binary way.

增加了RGBD-IMU的运行模式和ROS接口，增加了单目IMU和双目IMU的ROS接口，替换了词典为二进制格式，加载速度更快。

Command

RGBD: rosrun ORB_SLAM3 RGBD /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml

RGBD_inertial: rosrun ORB_SLAM3 RGBD_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml

Stereo_inertial: rosrun ORB_SLAM3 Stereo_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml

Mono_inertial: rosrun ORB_SLAM3 Mono_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml

RGBD-inertial Mode Tested with d435i rosbag:

https://star-center.shanghaitech.edu.cn/seafile/d/0ea45d1878914077ade5/