ORB-SLAM3 for Linux

Redmine issue: https://redmine.drivecast.tech/issues/335

Installation

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

Mono-Kitti Examples

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

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.
Используйте данные файлы далее в репозитории ue_demo

Other Examples

Besides all the examples listed in ORB-SLAM3 original repository you can also run uzh-fpv and kaist urban examples:

Examples/Stereo/run_stereo_uzh-fpv.sh
Examples/Stereo/run_stereo_complex_urban.sh
Examples/Stereo/run_stereo_uzh-fpv_multiple.sh
Examples/Stereo-Inertial/run_stereo_inertial_uzh-fpv.sh
Examples/Stereo-Inertial/run_stereo_inertial_zurich_urban_mav.sh

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.

After all the datasets are downloaded and the paths to them are changed in the scrips you can run them. From the ORB-SLAM3_Linux directory run the example:

cd Examples/Stereo/
./run_stereo_uzh_fpv.sh

The other examples you can run accordingly to the details provided in the ORB-SLAM3 repository.

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