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VIS4ROB-lab / covins

COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping
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How to change the slam3 version？ #47

Closed hyc-yuchen closed 8 months ago

hyc-yuchen commented 10 months ago

How to change the slam3 version？

I need to use a version of slam3 that can run on a GPU, how can I change it?

manthan99 commented 10 months ago

Hi

I would recommend checking out these instructions in the readme for this: Interfacing a Custom VIO

To quote from there,

For straightforward understanding which steps need to be taken to interface a VIO front-end with COVINS, we have defined the preprocessor macro COVINS_MOD in covins/covins_comm/include/covins/covins_base/typedefs_base.hpp. This macro indicates all modifications made to the original ORB-SLAM3 code in order to set up the communication with the server back-end.

So basically you can check our modified ORB_SLAM3 code for the macro COVINS_MOD and make similar changes to your ORB_SLAM3 version which supports GPU.

I hope this helps