Following are the instruction to install ORB-SLAM3, I have referenced this repo for the installation in Ubuntu 20.04 along with further changes added by me.
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
from /usr/local/include/pangolin/windowing/window.h:35,
from /usr/local/include/pangolin/display/display.h:34,
from /usr/local/include/pangolin/pangolin.h:38,
from /home/a616708946/slambook/ch5/code/disparity.cpp:8:
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:109:87: error: template argument 1 is invalid
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
update Cmakelists.txt from -std=c++11 to -std=c++14
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
This is an error due to the Eigen version.
../core/base_edge.h: 33:10: fatal error: Eigen/Core: No such file or directory
#include <Eigen/Core>
Replace all of #include <Eigen/(any packages)> to #include <eigen3/Eigen/(any packages)>.
For example:
#include <Eigen/Core>
to
#include <eigen3/Eigen/Core>
These changes have to made in all the files using the Eigen dependency in the ORB_SLAM3/include/ folder.
Install all liberay dependencies.
sudo apt install software-properties-common
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt-key adv --refresh-keys --keyserver keyserver.ubuntu.com
sudo apt update
sudo apt-get install -y \
build-essential \
cmake \
git \
libjasper1 \
libgtk2.0-dev \
pkg-config \
libavcodec-dev \
libavformat-dev \
libswscale-dev \
python-dev \
python-numpy \
libtbb2 \
libtbb-dev \
libjpeg-dev \
libpng-dev \
libtiff-dev \
libdc1394-22-dev \
libjasper-dev \
libglew-dev \
libboost-all-dev \
libssl-dev \
libepoxy-dev \
libeigen3-dev
The ORB-SLAM 3 was test by
cd ~
mkdir Dev && cd Dev
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout 3.2.0
Put the following at the top of header file
nano ./modules/videoio/src/cap_ffmpeg_impl.hpp
#define AV_CODEC_FLAG_GLOBAL_HEADER (1 << 22)
#define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER
#define AVFMT_RAWPICTURE 0x0020
and save and close the file
Modify the following line
nano ./modules/python/src2/cv2.cpp
# Line 730, from: char* str = PyString_AsString(obj);
# To: const char* str = PyString_AsString(obj);
and save and close the file
mkdir build
cd build
cmake -D ENABLE_PRECOMPILED_HEADERS=OFF -D CMAKE_BUILD_TYPE=Release -D WITH_CUDA=OFF -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install
ORB SLAM3 requires OpenCV 4.4 or higher, so follow the instructions below:
sudo apt remove libopencv-dev
# Dependencies
sudo apt install build-essential cmake git libgtk-3-dev libvtk7-dev libjpeg-dev libpng-dev libtiff-dev libopenexr-dev libwebp-dev libavcodec-dev libavformat-dev libswscale-dev libxvidcore-dev libx264-dev libtbb2 libtbb-dev libdc1394-22-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libeigen3-dev
# Clone OpenCV source
cd ~/Dev
mkdir opencv-4.5.5
cd opencv-4.5.5
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout 4.5.5
git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout 4.5.5
# Build
cd ~/opencv
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release \
-D CMAKE_INSTALL_PREFIX=/usr/local \
-D OPENCV_EXTRA_MODULES_PATH=~/Dev/opencv-4.5.5/opencv_contrib/modules \
-D BUILD_EXAMPLES=ON ..
make -j$(nproc)
sudo make install
sudo ldconfig
Now, we install the Pangolin. I used the commit version 86eb4975fc4fc8b5d92148c2e370045ae9bf9f5d
cd ~/Dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake .. -D CMAKE_BUILD_TYPE=Release
make -j$(nproc)
sudo make install
Now, we install ORB-SLAM3. I used the commit version ef9784101fbd28506b52f233315541ef8ba7af57 tag: v0.3-beta
cd ~/Dev
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git
cd ORB_SLAM3
We need to change the header file gedit ./include/LoopClosing.h at line 51
from
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
to
Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;
in order to make this comiple. Now, we can comiple ORB-SLAM3 and it dependencies as DBoW2 and g2o.
Now Simply just run (if you encounter compiler, try to run the this shell script 2 or 3 more time. It works for me.)
./build.sh
Kevin Robb provies a handy code get_images.py to convert the bag files to get images in every frame of the dataset.
The images had the following file structure:
/Dataset
KITTI/
00/
image_0/ image_1/ times.txt calib.txt
Nuance/
00/
image_0/ image_1/ times.txt
Included the camera calibration parameters in the
/Example/Stereo/Nuance.yaml
file.
Run the following in the ~/Dev/ORB_SLAM3/ file.
- EuRoC
./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml ~/Datasets/EuRoc/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt
- KITTI Dataset
./Examples/Stereo/stereo_kitti ./Vocabulary/ORBvoc.txt ./Examples/Stereo/KITTI00-02.yaml ~/Datasets/Kitti/00
- Nuance
./Examples/Stereo/stereo_kitti ./Vocabulary/ORBvoc.txt ./Examples/Stereo/Nuance.yaml ~/Datasets/Nuance/00