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ORB_SLAM3

This repository is a modified version of ORB_SLAM3

Modification

  • Succesfully tested in Ubuntu 22.04 and ROS2 Humble(with >OpenCV 4.2)
  • Update from C++11 to C++14
  • Fixed unexpected error when start STEREO mode with Rectified camera type

Prerequisites

Eigen3

sudo apt install libeigen3-dev

Pangolin and configuring dynamic library path

We install Pangolin system wide and configure the dynamic library path so the necessary .so from Pangolin can be found by ros2 package during run time. More info here https://robotics.stackexchange.com/questions/105973/ros2-port-of-orb-slam3-can-copy-libdow2-so-and-libg2o-so-using-cmake-but-gettin

Install Pangolin

cd ~
git clone https://github.com/stevenlovegrove/Pangolin
cd Pangolin
./scripts/install_prerequisites.sh --dry-run recommended #[Check what recommended softwares needs to be installed]
./scripts/install_prerequisites.sh recommended #[Install recommended dependencies]
cmake -B build
cmake --build build -j4
sudo cmake --install build

Configure dynamic library

Check if /usr/lib/local is in the LIBRARY PATH

echo $LD_LIBRARY_PATH

If not, then perform the following

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/local
sudo ldconfig

Then open the .bashrc file in \home directory and add these lines at the very end

if [[ ":$LD_LIBRARY_PATH:" != *":/usr/local/lib:"* ]]; then
    export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
fi

Finally, source .bashrc file

source ~/.bashrc

OpenCV

Ubuntu 22.04 by default comes with >OpenCV 4.2. Check to make sure you have at least 4.2 installed. Run the following in a terminal

python3 -c "import cv2; print(cv2.__version__)"

Installation

Clone the repository:

git clone https://github.com/guyuehome/ORB_SLAM3.git

Install same required dependencies as original version. Then,
Execute:

cd ORB_SLAM3
chmod +x build.sh
./build.sh

This will create libORB_SLAM3.so at lib folder and the executables in Examples folder.

Run

Dataset

cd ORB_SLAM3
wget -c http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip
unzip MH_01_easy.zip
./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml MH_01_easy ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono