trongdathust

Thanks for your reply. I use the Orbbec Astra Pro camera. Here is the RTAB-MAP generated config file: ``` %YAML:1.0 File.version: "1.0" Camera.type: "PinHole" Camera1.fx: 570.3422047415297 Camera1.fy: 570.3422047415297 Camera1.cx: 319.5000000000000...

Update: I seems to have misunderstood some parameters in the node launch and changed so the generated config file becomes this: ``` %YAML:1.0 File.version: "1.0" Camera.type: "PinHole" Camera1.fx: 570.3422047415297 Camera1.fy:...

Thanks, I managed to run the ORB-SLAM3 integrated RTAB-MAP successfully. Also is there a way to print out the generated 3D map or publish it to Rviz?

> > [@trongdathust](https://github.com/trongdathust) Can you share how you use orbslam3 on rtabmap There is an option to change the Odom/Strategy in rtabmap to use orbslam3 for visual odometry calculation. You...