ORB_SLAM3
Get ORB_SLAM3
git clone https://github.com/yubaoliu/ORB_SLAM3.git
cd ORB_SLAM3
git checkout dev
Deploy ORB_SLAM3
-
Build OpenCV OpenCV will be installed when you install the ROS.
-
Build thirdparties
chmod +x build.sh
./build.sh
使用Realsense运行ORB_SLAM3
- Start realsense camera node
roslaunch realsense2_camera rs_rgbd.launch
- Start ORB_SLAM3 node
roslaunch orb_slam3 realsense.launch