ORB SLAM Installation¶
https://github.com/raulmur/ORB_SLAM2
Building Library and Examples¶
Download from GitHub :
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
Build
cd ORB_SLAM2
chmod +x build.sh
./build.sh
Fix compile issue, add
#include <unistd.h>
in System.h.
Monocular Examples¶
Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.
Execute the following command. Change TUMX.yaml to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDER to the uncompressed sequence folder.
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER
Quick test:
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /media/tliu/WD_PassPort_1/slam_datasets/tum/rgbd_dataset_freiburg1_xyz