/ORB_SLAM3_ZCU104

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

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

ORB_SLAM3_ZCU104

Cross-compile ORB_SLAM3 for ZCU104 with Pangolin removed.

Build Environment

  • Ubuntu 22.04
  • GCC-11.3

Build

  1. Install cross-compiler for aarch64 
    sudo apt install g++-11-aarch64-linux-gnu
  2. Download and extract the sysroot by one of the links below
  3. Modify aarch64.cmake on line 4 ~ 6, specify the path of the sysroot and cross-compiler 
    set(CMAKE_SYSROOT <path to zcu104_pynq_3.0.1>)
set(CMAKE_C_COMPILER <path to aarch64-linux-gnu-gcc-11>)
set(CMAKE_CXX_COMPILER <path to aarch64-linux-gnu-g++-11>)
  4. Run build 
    ./build.sh

Run on board

  1. Boot the board with PYNQ 3.0.1 image.
  2. Install OpenCV-4.4.0.
  3. Clone this repository to the board.
  4. Upload and replace the lib, Thirdparty, and Examples folders with the newly built one.
  5. Follow the instruction by ORB_SLAM3 to run the examples.