[Question] How would I use it in orb-slam3？

[wensongJiang]

Hi,Thanks for the excellent work, I am a novice in ORB-SLAM,and i am learning it. I would like to know how to apply this in ORB-SLAM3?

[TimingSpace]

Hi, thanks and I am sorry for the late reply.

I think you are trying to find an online solution, so you may need a C++ version scale recovery method, this code may be not appropriate for it is in the Python version. For orb-slam3, I recommend recovering the scale with IMU, which is supported.

We have done some experiments on orbslam2, but that's in an offline mode: we saved the feature positions and initial paths and then ran scale recovery offline.