52 lines
2.9 KiB
Markdown
52 lines
2.9 KiB
Markdown
# ORB-SLAM3 for linux
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Redmine issue: https://redmine.drivecast.tech/issues/335
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## Installation
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Please refer to the original repository on the details of the installation procedure: https://github.com/UZ-SLAMLab/ORB_SLAM3
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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):
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```
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cd ORB-SLA3_Linux
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chmod +x build.sh
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./build.sh
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```
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## Running
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## mono-kitti examples
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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:
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```
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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
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```
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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.
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3. Используйте данные файлы далее в репозитории [ue_demo](https://git.drivecast.tech/pi/ue_demo)
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## Other examples
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Besides all the examples listed in ORB-SLAM3 original repository you can also run uzh-fpv and kaist urban examples:
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For stereo examples change the paths to your dataset files in the scripts (Examples/Stereo/run_stereo_uzh_fpv.sh).
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Added scrips:
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- Examples/Stereo/run_stereo_uzh-fpv.sh
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- Examples/Stereo/run_stereo_complex_urban.sh
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- Examples/Stereo/run_stereo_uzh-fpv_multiple.sh
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- Examples/Stereo-Inertial/run_stereo_inertial_uzh-fpv.sh
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- Examples/Stereo-Inertial/run_stereo_inertial_zurich_urban_mav.sh
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### Datasets
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- Download uzh-fpv dataset from here: https://fpv.ifi.uzh.ch/
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- Download complex-urban dataset from here: https://sites.google.com/view/complex-urban-dataset/system
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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.
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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:
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```
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cd Examples/Stereo/
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./run_stereo_uzh_fpv.sh
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```
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The other examples you can run accordingly to the details provided in the [ORB-SLAM3](https://github.com/UZ-SLAMLab/ORB_SLAM3) repository.
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