UPDATE: Look at this newer PR for examples of usage: #1612

Address #886

Upstream repo: https://github.com/UZ-SLAMLab/ORB_SLAM3/releases/tag/v1.0-release

Current issues when enabling IMU (tested with Realsense2 D435i):

• Seg fault here when ORB_SLAM3 is built in Release mode: https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/Optimizer.cc#L831
  • Workaround: build ORB_SLAM3 in Debug mode.
• Got Solving Sophus -nan error UZ-SLAMLab/ORB_SLAM3#608, tried Solving Sophus -nan error UZ-SLAMLab/ORB_SLAM3#608 (comment) but ORB_SLAM3 is always resetting...

TODO:

• Expose IMU parameters
• Make sure ORB_SLAM2 version still work after refactoring

Changes made upstream (ORB_SLAM3) to work on Ubuntu 22.04: https://gist.github.com/matlabbe/12f78de1ef5d9ae9f7bca7f3373fd65f