2020-12-22
Add parameter IMU.shift to correct the time shift between IMU and camera, and record a rosbag of Kinect for Azure for test.
添加时间差参数项校正IMU与相机的时间差，录制Kinect for Azure的rosbag以供测试
使用方法/How to use：
链接: https://pan.baidu.com/s/1MoQn6SJUp5hYA2HcJ9a5fw 密码: 5s8q
rosbag decompress *.bag
rosrun ORB_SLAM3 RGBD_inertial Vocabulary/ORBvoc.bin Examples/ROS/ORB_SLAM3/MyK4A.yaml
rosbag play orb3_05.bag
2020-10-26
According to ORB_SLAM3, the ROS interface of RGBD-inertial mode is rewritten to avoid queue congestion. The parameter file of Kinect for azure is provided.
依据ORB_SLAM3重写了RGBD-IMU的ROS接口，避免出现队列拥塞，提供了Kinect for Azure的参数文件
2020-8-5
RGBD-inertial mode and its ROS interface was added to ORB_SLAM3.
ROS interfaces Mono_inertial and Stereo_inertial were provided.
Modified the loading vocabulary in a faster binary way.
增加了RGBD-IMU的运行模式和ROS接口，增加了单目IMU和双目IMU的ROS接口，替换了词典为二进制格式，加载速度更快。
Command
RGBD: rosrun ORB_SLAM3 RGBD /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml
RGBD_inertial: rosrun ORB_SLAM3 RGBD_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/Myd435i.yaml
Stereo_inertial: rosrun ORB_SLAM3 Stereo_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml
Mono_inertial: rosrun ORB_SLAM3 Mono_inertial /YOUR_PATH/ORBvoc.bin /YOUR_PATH/EuRoC.yaml
RGBD-inertial Mode Tested with d435i rosbag:
https://star-center.shanghaitech.edu.cn/seafile/d/0ea45d1878914077ade5/