Finally some good news for 2021: Most of the OpenREALM library will now be available under the LGPL license. Yay! This allows commercial users to integrate our code base into their products without having the need to publish all infrastructure around it. However, changes to the original code base have to be made available to all users.
Please note: If your are compiling with CUDA and consequently use the thirdparty PSL library, the whole code base becomes GPLv3!
As of today OpenREALM is relying on OpenVSLAM as default visual SLAM framework. The overall performance differences between OpenVSLAM and ORB SLAM2 are neglectable, however OpenVSLAM is still actively maintained. You can pull the current main build without any other modifications. Open new issues in case you encounter any problems, we will do our best to fix it as fast as possible.
From now on this repository will contain OpenREALM as CMake only project. We decided to take this step due to several reasons, but mainly to make it more independet from the ROS1 build system. This will allow it to move to other platforms (e.g. Windows) or transportation frameworks (e.g. ROS2) in the future with less trouble.
In case you still want to use ROS1 with OpenREALM you are free to do it. Refer to the instructions on the following repository: