Installation

I got useful information from this website before creating this project by updating something to avoid errors. Thanks to the authors! (url, video) and url

Prerequisites

Ubuntu 20.04

Pangolin

OpenCV

ROS

RealSense

1. Installation of ORB-SLAM 3 on a freshly installed (CPU) Ubuntu 20.04

Install all library dependencies.

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev libjasper-dev

sudo apt-get install libglew-dev libboost-all-dev libssl-dev

sudo apt install libeigen3-dev

---

Install Pangolin

Now, we install the Pangolin.

cd ~/Dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin 
mkdir build 
cd build 
cmake .. -D CMAKE_BUILD_TYPE=Release 
make -j 3 
sudo make install

If you want to install to conda environment, add CMAKE_INSTALL_PREFIX=$CONDA_PREFIX instead.

---

Install OpenCV 4.4.0

The ORB-SLAM 3 was test by

cd ~
mkdir Dev && cd Dev
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout 4.4.0
mkdir build
cd build
cmake ..
make -j4
sudo make install

Now check the openCV version by opening a new terminal:

python3
import cv2
cv2.__version__

Should be see:

'4.4.0'

It should be seen like this :

ROS

Please follow this link .

Now check the ROS version by opening a new terminal:

roscore

It should be seen like this:

RealSense

Please follow this link Method 2. OR link.

Now check the RealSense by opening a new terminal:

realsense-viewer

It should be seen like this if your cam is D435i:

If your cam is D435 it should be seen like this (it is not working, don't keep it up):

ORB-SLAM 3

Now, we install ORB-SLAM3.

cd ~/Dev
git clone https://github.com/thien94/ORB_SLAM3.git ORB_SLAM3
# Build
cd ORB_SLAM3
chmod +x build.sh
./build.sh

2. Download test datasets

cd ~
mkdir -p Datasets/EuRoc
cd Datasets/EuRoc/
wget -c http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip
mkdir MH01
unzip MH_01_easy.zip -d MH01/

Similar to other datasets in EuRoc, see here (url, url, and url)

3. Run

Simulation

cd ~/Dev/ORB_SLAM3
# Mono + Inertial
./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml ~/Datasets/EuRoC/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoimu

It should be seen like this if your cam is D435i:

Move and rotate the cam, it should be seen like this:

cheer up