Modified version from raulmur/ORB_SLAM2 (commit f2e6f51 on Oct 11, 2017)
modified version from raulmur/ORB_SLAM2 (commit f2e6f51 on Oct 11, 2017)
ORB-SLAM is a versatile and accurate SLAM solution for Monocular, Stereo and RGB-D cameras.
[TOC]
OpenCV 3
Eigen3
sudo apt install libeigen3-dev
Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin & mkdir build & cd build
cmake .. & cmake --build .
G2O
# git clone https://github.com/RainerKuemmerle/g2o
cd Thirdparty
svn checkout https://github.com/raulmur/ORB_SLAM2/trunk/Thirdparty/g2o
cd g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
DBoW2
git clone https://github.com/cggos/DBoW2
ROS (optional)
Vocabulary ORBvoc.txt
cd orbslam2/Vocabulary
wget https://raw.githubusercontent.com/raulmur/ORB_SLAM2/master/Vocabulary/ORBvoc.txt.tar.gz
tar -xf ORBvoc.txt.tar.gz
with ROS
cd orbslam2_cg/platforms/ros_wrapper
catkin_make -j1
without ROS
cd orbslam2_cg/platforms/app
mkdir build & cd build
cmake .. & make -j1
rosrun camera_calibration cameracalibrator.py \
--approximate=0.05 \
--size 11x7 \
--square 0.036 \
left:=/mynteye/left/image_raw \
right:=/mynteye/right/image_raw
without ROS
cd orbslam2_cg/platforms/app/build
../scripts/run_<mono_tum>.sh # modify it before run
with ROS
roslaunch orbslam2_ros run_<mono>.launch
roslaunch orbslam2_ros run_stereo_euroc.launch [rviz:=true]
roslaunch orbslam2_ros run_stereo_mynteye_s1030.launch