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/