ORB-SLAM3

This repository is a modified version of ORB_SLAM3

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Summary

• Succesfully tested in Debian GNU/Linux 12 (bookworm) and ROS2 Humble Hawksbill(with OpenCV 4.2.0)
• Updated from C++11 to C++14
• Fixed unexpected error when start STEREO mode with Rectified camera type
• Fixed : SegmentationFault ; occurring on saving KeyFrameTrjectory.txt
• In mono_tum.cc, added support for toggling the Pangolin viewer via a 4th CLI argument (true or false)

Modifications made:

• Updated CMakeLists.txt to use cmake version - 3.25+
• Updated CMakeLists.txt to incorporate requried libraries such as DBoW2, g2o, & Sophus correctly
• Updated file paths in .h files towards required libraries
• In mono_euroc.cc around line 83 change the last argument of the function to true
  "ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);"
  which is false by default and then rebuild the package.
• Uncommented some lines in file : System.cc, function : System::Shutdown(), around line : 517
• Added CLI support for bUseViewer in mono_tum.cc: parsed at line 39, declared at line 52, and passed to the System constructor at line 59.

How to build

Clone the repository:

git clone https://github.com/eshan-sud/ORB_SLAM3 ORB_SLAM3

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.