Python bindings for ORBSLAM3. These bindings use a modified version of ORBSLAM with a gravity value of 1.625 m/s² for IMU measurements, additional functions to extract camera trajectories, and examples removed. Based on this repo.
- Clone submodules:
git submodule init && git submodule update - Install C++ Dependencies: OpenCV >= 4.4 and Eigen >= 3.3
- Build bindings:
pip install -e .
- Update CMake configuration and version to build
- Update orbslam version
- Patch orbslam for trajectory extraction
- Patch gravity value in orbslam
- Update pybind11
- Add Stereo tracking binding with IMU data
- Build on MacOS
- Make non-editable install work