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zang09 / ORB_SLAM3_ROS2

ROS2 wrapping package for orbslam3 library
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Does anyone have folder for monocular inertial (ROS2 Humble) #21

Open Nikolaiarn opened 5 months ago

Nikolaiarn commented 5 months ago

I see that there are folders that have scripts for inertial, rgbd, sterio and sterio inertial. I believe that it should be possible for obrslam3 to handle monocular inertial data. I was wondring if any of you have the three C++ scripts for this implementation?

astronaut71 commented 4 months ago

I tried but not working.

Haneenalnahwi commented 2 months ago

I need this too. Is there any update on mono-inertial?

Nikolaiarn commented 2 months ago

@Haneenalnahwi, I found that the fork: https://github.com/kyrikakis/ORB_SLAM3_ROS2.git Had a working version for mono VI slam. Personally I had some problems with it since I was not able to extract the IMU parameters from kalibr since it is using ros1. I wish you good luck

Nikolaiarn commented 2 months ago

@Haneenalnahwi, somone just posted a repo with working VI-SLAM in ROS2 if you are still interested: https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/793#issuecomment-2095639783