Orbslam 2D mode (restricting to 3dof)

appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2

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Orbslam 2D mode (restricting to 3dof) #81

Open sarath-vanga opened 4 years ago

sarath-vanga commented 4 years ago

Hi all,

How to force the current orbslam system to operate in just 2D mode? By 2D mode I mean 3dof [x,y,yaw].

I think to achieve this we might have to modify the datatypes we feed to 'g2o' library. But I can not find any 'SE2' related headers in similar to 'SE3' header currently available in 'ThirdParty/g2o' folder.

Can someone help me on how to achieve this?

Thanks, Sarath.

cagrihakkoymaz commented 3 years ago

Hello,i have same problem right now .I will appreciate if you share your progress about this issue.