shanpenghui / orb_slam3_fixed Goto Github PK

Hi everyone.
I Start working on ORBSLAM3, I used of:
Ubuntu 20.04
Camera: RealSense T265
Jetson xavier jetPack 5.1.2
L4T: 35.4.1
RealSense SDK 2.50.0
Open CV: 4.5.4
when I run ORBSLAM3 it can detect points and path in Orbslam Map viewer, But when I move camera, every minute points and path disappear and it start again... how I can fix this issue? it's need special config to can show path and points realtime??

Problem 2:
I read calibration pdf, it say you should configure TBC1 and TC1C2 in stereo Inertial, and it say Camera2(c2) is Right Camera in T265
but in RealSense_T265.yaml is C2 as left Camera:
Transformation matrix from right camera to left camera

Stereo.T_c1_c2: !!opencv-matrix
rows: 4
cols: 4
dt: f
data: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379,
-0.00443664, 0.999984, -0.00347621, -0.000252007856033742,
-0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05,
0.0, 0.0, 0.0, 1.0]

which is Correct? please Help me for these issues.

Is it possible to save all the trajectories generated instead of the only one which is saved automatically after mapping ends?

This image sequence of walking on a straight road so they will never reach any points mapped before so there won't be any merging. So I want to save all the trajectories.

This is how it looks like

fatal error: opencv2/imgcodecs/legacy/constants_c.h: 没有那个文件或目录
我用的是opencv3.4.6,请问下我运行官方版本是没有问题的，这该怎么去解决额？

$ docker pull registry.cn-hangzhou.aliyuncs.com/slam_docker/slam_docker:gpu
Error response from daemon: pull access denied for registry.cn-hangzhou.aliyuncs.com/slam_docker/slam_docker, repository does not exist or may require 'docker login': denied: requested access to the resource is denied

First thanks by port this to OpenCV 4 support. I'm using it in 18.04 and It with cuda support (Jetson Xavier Nx).
I cannot understand how run this in ROS with a RGBD realsense, I dont even know what is the ros node name and there is not launch files catkin workspace just that rosrun command in the guide and change the camera topic
but what with stereo and rgbd cameras as realsense?