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# ORB-SLAM3 for linux
Redmine issue: https://redmine.drivecast.tech/issues/335
## Build ORB-SLAM3
Скачайте и установите все необходимые ниже перечисленные библиотеки, затем в папке ORB-SLAM3.
1. `mkdir build && cd build`
2. `cmake ..`
3. `make`
## mono-kitti examples.
1. Скомпилируйте файл папке **Examples/Stereo/stereo-kitti.cc** и запустите бинарник с параметрами: путь к словарю, путь к файлу с настройками, путь к папке с изображениями. Пример: `stereo-kitti /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Vocabulary/ORBvoc.txt /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Examples/Stereo/KITTI04-12.yaml /home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences/06`
1. Скомпилируйте файл папке **Examples/Stereo/stereo-kitti.cc** и запустите бинарник с параметрами: путь к словарю, путь к файлу с настройками, путь к папке с изображениями. Пример:
```
stereo-kitti /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Vocabulary/ORBvoc.txt /home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Examples/Stereo/KITTI04-12.yaml /home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences/06
```
2. Бинарник создаст файлы `CameraTrajectory.txt` и `RealtimeCameraTrajectory.txt`, они практически идентичные. Первый файл выдаёт чуть более точную траекторию, но она недоступна в режиме "онлайн", когда позиция камеры в моменте.
3. Используйте данные файлы далее в репозитории [ue_demo](https://git.drivecast.tech/pi/ue_demo)
## Installation
Please refer to the original repository on the installation procedure: https://github.com/UZ-SLAMLab/ORB_SLAM3
Please refer to the original repository on the details of the installation procedure: https://github.com/UZ-SLAMLab/ORB_SLAM3
You can use the script to install the Thirdparty libraries and ORB-SLAM3 core and the examples. But make sure you have installed all the required packages (You may need to change the paths to the packages in your CMakeLists.txt):
```
cd ORB-SLA3_Linux
chmod +x build.sh
./build.sh
```
## Running
Besides all the examples listed in ORB-SLAM3 original repository you can also run uzh-fpv and kaist urban examples:
For stereo examples change the paths to your dataset files in the scripts (Examples/Stereo/run_stereo_uzh_fpv.sh).
### Datasets
- Download uzh-fpv dataset from here: https://fpv.ifi.uzh.ch/
- Download complex-urban dataset from here: https://sites.google.com/view/complex-urban-dataset/system
NOTE: The download of the complex-urban dataset may take a while because you need to send an email to them to ask the permission. You can use the downloaded sequence from `/mnt/disk-small/podmivan/datasets/complex-urban` folder in the DriveCast server.
```
cd Examples/Stereo/
./run_stereo_uzh_fpv.sh
```