# orbslam3_copilot

**Repository Path**: jzcode/orbslam3_copilot

## Basic Information

- **Project Name**: orbslam3_copilot
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-05-11
- **Last Updated**: 2026-05-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# IMX219 Stereo ORB-SLAM3 Example (Jetson Orin Nano)

This project provides a minimal C++ example to run stereo visual odometry / SLAM with ORB-SLAM3 using an NVIDIA B01 IMX219 stereo camera on Jetson Orin Nano.

## Prerequisites

- JetPack (with CUDA, OpenCV with GStreamer support)
- Pangolin installed (for ORB-SLAM3)
- ORB-SLAM3 cloned and built at `../ORB_SLAM3` relative to this project:
  - `../ORB_SLAM3/Vocabulary/ORBvoc.txt`
  - `../ORB_SLAM3/lib/libORB_SLAM3.so` (or adjust CMake if different)

## Build

```bash
cd /home/jz/code/myorbslam3_copilot
mkdir build && cd build
cmake ..
make -j$(nproc)
```

## Run

```bash
cd /home/jz/code/myorbslam3_copilot/build
./stereo_imx219 \
  ../ORBvoc.txt \
  ../Config/IMX219_Stereo.yaml
```

Make sure to replace the camera intrinsics, distortion, and `Camera.bf` in `Config/IMX219_Stereo.yaml` with your real calibration values for the IMX219 stereo camera.

The program expects two IMX219 sensors accessible via `nvarguscamerasrc` with `sensor-id=0` (left) and `sensor-id=1` (right). Adjust the GStreamer pipeline in `src/stereo_imx219.cc` if your setup differs.