Installation guide by Mauhing Yip with some modified part by Cylos9

Link to original ORB-SLAM3's README.md

Link to original guide by Mauhing Yip

1. Installation of ORB-SLAM 3 on a fresh installed Ubuntu 20.04

• Install all liberay 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

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Install OpenCV 3.2.0

[Cylos9's Note] On a freshly installed Ubuntu 20.04.4 LTS with desktop image, OpenCV 4.2.0 is included so we will use it instead of OpenCV 3.2.0. Please move to the next step.

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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.

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ORB-SLAM 3

[Cylos9's note] The below instruction have modifed from Mauhing's instruction (Using myrepo forked from the original with some changes to make it compatible with ubuntu 20.04)

cd ~/Dev
git clone https://github.com/Cylos9/ORB_SLAM3.git 
cd ORB_SLAM3
chmod +x build.sh
./build.sh

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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 for another datasets in EuRoc see here [https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets]

3. Run simulation

cd ~/Dev/ORB_SLAM3

# Pick of them below that you want to run

# Mono
./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml ~/Datasets/EuRoc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

# 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_monoi

# Stereo
./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml ~/Datasets/EuRoc/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo

# Stereo + Inertial
./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml ~/Datasets/EuRoc/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi

[Cylos9's Note] Run sudo ldconfig if the below error occurs

./Examples/Monocular/mono_euroc: error while loading shared libraries: libpango_windowing.so: cannot open shared object file: No such file or directory

4. Validation Estimate vs Ground True

• We need numpy and matplotlib installed in pytho2.7. But Ubuntu20.04 has not pip2.7

sudo apt install curl
cd ~/Desktop
curl https://bootstrap.pypa.io/pip/2.7/get-pip.py --output get-pip.py
sudo python2 get-pip.py
pip2.7 install numpy matplotlib

Run and plot Ground true

cd ~/Dev/ORB_SLAM3

./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml ~/Datasets/EuRoc/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo

Plot estimate vs Ground true

cd ~/Dev/ORB_SLAM3

python evaluation/evaluate_ate_scale.py evaluation/Ground_truth/EuRoC_left_cam/MH01_GT.txt f_dataset-MH01_stereo.txt --plot MH01_stereo.pdf

[Cylos9's note] open the pdf MH01_stereo.pdf in the folder where you have run the code to see it.

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5. ROS wrapper for ORB-SLAM3 (by Thien94)

[Cylos9's note] The below instructions is shortned with only necessary parts.

Refer to the original repo for more details.

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Clone ROS wrapper

• Clone the package. Note that it should be a catkin workspace.

cd ~/catkin_ws/src/
git clone https://github.com/thien94/orb_slam3_ros_wrapper.git

• Open CMakeLists.txt and change the directory that leads to ORB-SLAM3 library at the beginning of the file (default is home folder ~/)

cd ~/catkin_ws/src/orb_slam3_ros_wrapper/
gedit CMakeLists.txt

• Change set(ORB_SLAM3_DIR $ENV{HOME}/ORB_SLAM3)

  to your installation of ORB-SLAM3. set(ORB_SLAM3_DIR $ENV{HOME}/Dev/ORB_SLAM3)

• Build the package normally.

cd ~/catkin_ws/
catkin_make

• Next, copy the ORBvoc.txt file from ORB-SLAM3/Vocabulary/ folder to the config folder in this package. Alternatively, you can change the voc_file param in the launch file to point to the right location.

• (Optional) Install hector-trajectory-server to visualize the trajectory.

sudo apt install ros-noetic-hector-trajectory-server

• If everything works fine, you can now try the different launch files in the launch folder.

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How to run

EuRoC dataset:

[Cylos9's note] Download EuRoC's bag files from this link

• In one terminal, launch the node:

roslaunch orb_slam3_ros_wrapper euroc_monoimu.launch

• In another terminal, playback the bag ( in the folder you stored bag files ):

rosbag play MH_01_easy.bag

Similarly for other sensor types.

Topics

The following topics are published by each node:

• /orb_slam3/map_points (PointCloud2): all keypoints being tracked.
• /orb_slam3/camera_pose (PoseStamped): current left camera pose in world frame, as returned by ORB-SLAM3.
• tf: transformation from camera frame to world frame.