/ORB_SLAM3_NOETIC

ORBSLAM3 adapted for Ubuntu 20 and ROS Noetic if neccesary

Primary LanguageC++GNU General Public License v3.0GPL-3.0

ORB-SLAM3 for ROS Noetic, Ubuntu 20

ORBSLAM3 adapted for Ubuntu 20 and ROS Noetic if neccesary.

Install modified Pangolin

I added Pangolin version compatible with Ubuntu 20 and ORB_SLAM3, so, we need to install it.

=== Required Dependencies ===

  • C++11

  • OpenGL (Desktop / ES / ES2)

  • Glew

  • (win) built automatically

  • (deb) sudo apt-get install libglew-dev

  • (mac) sudo port install glew

  • CMake (for build environment)

  • (win) http://www.cmake.org/cmake/resources/software.html

  • (deb) sudo apt-get install cmake

  • (mac) sudo port install cmake

=== Building ===

  1. Enter Pangolin path

    • cd ORB_SLAM3_NOETIC/Pangolin
  2. Build Pangolin

    • mkdir build
    • cd build
    • cmake ..
    • make -j
  3. Test Pangolin

    • cd ORB_SLAM3_NOETIC/Pangolin/examples/HelloPangolin
    • mkdir build
    • cd build
    • cmake ..
    • make -j
    • ./HelloPangolin

Install ORB_SLAM3

I added ORB_SLAM3 version compatible with Ubuntu 20 and ORB_SLAM3, so, for install and use just follow official steps at: https://github.com/UZ-SLAMLab/ORB_SLAM3 (except clone official ORBSLAM3, or you can test it too)

Test:

Here is a video testing it:

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