Check the c++ version installed
g++ --version
If output looks like
g++ (Ubuntu 9.3.0-17ubuntu1~20.04) 9.3.0
GCC 4.8 and above support C++11, so any recent version, such as the one mentioned above, will work.
Download pangolin
https://github.com/stevenlovegrove/Pangolin
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
./scripts/install_prerequisites.sh --dry-run recommended
cmake -B build
cmake --build build
cmake --build build -t pypangolin_pip_install
Successfully installed numpy-2.0.0 pillow-10.3.0 pybind11-2.12.0 pyopengl-3.1.7 pyopengl-accelerate-3.1.7 pypangolin-0.9.1
While executing above command i encountered an error E: Unable to locate package catch2
I resolved it by building catch2 from git
git clone https://github.com/catchorg/Catch2.git
cd Catch2
cmake -B build -S . -DBUILD_TESTING=OFF
sudo cmake --build build/ --target install
After Catch2 installation i removed all mentions of catch2 from install_prereqisites.sh and ran the install_prerequisites.sh again
You cannot install opencv-python as the build process for ORB_SLAM3 will look for OpenCVModules.cmake & OpenCVConfig.cmake which will not be built if you do a pip install. You have to build opencv
Install dependecies
sudo apt-get install -y libjpeg-dev libpng-dev libtiff-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libeigen3-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev sphinx-common libtbb-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libopenexr-dev libgstreamer-plugins-base1.0-dev libavutil-dev libavfilter-dev libavresample-dev6
Download and unpack sources
wget -O opencv.zip https://github.com/opencv/opencv/archive/4.4.zip
unzip opencv.zip
cd opencv-4.4.0
If above link does not work try 4.4.0.zip
mkdir -p build && cd build
cmake ../opencv-4.x
cmake --build .
sudo make install
Eigen is required by g2o Download eigen zip file https://eigen.tuxfamily.org/index.php?title=Main_Page and extract
cd eigen
mkdir build_dir
cd build_dir
cmake ../
make install
Note: YOU DO NOT NEED TO BUILD g20 and DBoW2 seperately. they come preinstalled in ORB_SLAM3 directory, but if you wish to, use below and change path in ./build.sh directory
sudo apt-get install libopencv-dev
git clone https://github.com/dorian3d/DBoW2.git
cd DBoW2
mkdir build
cd build
cmake ..
make
sudo make install
Check if the library files are installed
ls /usr/local/lib/libDBoW2.so
Check if the header files are installed
ls /usr/local/include/DBoW2/
Install dependencies
sudo apt install libeigen3-dev libspdlog-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
Install g2o
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ../
make
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-desktop-full
env setup
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc
Install dependencies
sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
Initialize rosdep
sudo rosdep init
rosdep update
sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev v4l-utils
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at
git clone https://github.com/IntelRealSense/librealsense.git
./scripts/patch-realsense-ubuntu-lts-hwe.sh
mkdir build && cd build
cmake ../ -DBUILD_EXAMPLES=true
sudo make uninstall && make clean && make && sudo make install
Try below, if it works, you are all set.
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3
cd ORB_SLAM3
chmod +x build.sh
./build.sh
BUT
Make sure the your LD_LIBRARY_PATH contains /usr/lib (check echo $LD_LIBRARY_PATH especially if running a virtual environment)
export LD_LIBRARY_PATH=/usr/lib:/usr/local/lib
source ~/.bashrc
I faced certain errors with respect to theopencv
for opencv, it was looking for path to files OpenCVModules.cmake & OpenCVConfig.cmake during build process, to solve it
paste in ORB_SLAM3/CMakeLists.txt, just before find_package(OpenCV 4.4) (around line 33)
set(OpenCV_DIR "path/to/opencv/opencv-4.4.0/build")
And i faced errors with and pthread header and functions having troubline linking with the pthread library
/usr/bin/ld: cannot find -lpthreads
/usr/bin/ld: CMakeFiles/cmTC_880d9.dir/src.c.o: in function main':
src.c:(.text.startup+0x29): undefined reference to pthread_create'
/usr/bin/ld: src.c:(.text.startup+0x32): undefined reference to pthread_detach'
/usr/bin/ld: src.c:(.text.startup+0x3d): undefined reference to pthread_join'
collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_880d9.dir/build.make:87: cmTC_880d9] Error 1
make[1]: Leaving directory '/path/to/orb_slam3/ORB_SLAM3/build/CMakeFiles/CMakeTmp'
make: *** [Makefile:121: cmTC_880d9/fast] Error 2
i also saw issues during cmake, despite it getting completed
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
To resolve these issues, you will have to make changes to CMakeLists.txt in ORB_SLAM3 folder
In line 10 and 11 of CMakeLists.txt, replace
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")
with
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -pthread")
FIND BELOW LINES (SHOULD BE AROUND LINE NUMBER 40)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(realsense2)
and replace by
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(realsense2)
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
AFTER YOU HAVE PASTED ABOVE, REPLACE
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
-lboost_serialization
-lcrypto
)
WITH
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${CMAKE_THREAD_LIBS_INIT}
-lboost_serialization
-lcrypto
)
Above changes will solve the thread linking issues.
You may face errors such as below during the make process, these errors are happening while linking the Pangolin object files using a different version of cpp.
/usr/local/include/sigslot/signal.hpp:1180:9: error: ‘cow_copy_type’ was not declared in this scope
1180 | cow_copy_type<list_type, Lockable> ref = slots_reference()
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >& sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator=(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >&&)’:
/usr/local/include/sigslot/signal.hpp:1155:14: error: ‘m_slots’ was not declared in this scope
BEFORE THE LAST MAKE, AFTER cmake .. -DCMAKE_BUILD_TYPE=Release in ORB_SLAM3/build.sh, you have to add below command to update standard from c++11 to c++14
sed -i 's/++11/++14/g' CMakeLists.txt
for more info on it, you can check the link UZ-SLAMLab/ORB_SLAM3#458
Install ROS as per earlier Instructions laid out or use the link http://wiki.ros.org/noetic/Installation/Ubuntu
Once Installation is complete
edit bashrc
gedit ~/.bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples_old/ROS
source ~/.bashrc
in README.md inside Examples_old/ROS/ORB_SLAM3
Add at the top
project(ORB_SLAM3)
set(THREADS_PREFER_PTHREAD_FLAG ON)
replace lines
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
with
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native -pthread")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -pthread")
Remove the line
find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()
and replace by
set(OpenCV_DIR "/home/antpc/orbslam/opencv-4.4.0/build")
find_package(OpenCV 4.4)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 4.4 not found.")
endif()
MESSAGE("OPENCV VERSION:")
MESSAGE(${OpenCV_VERSION})
Add line
find_package(Threads REQUIRED)
and in include_directories, paste
${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
in set(LIBS) paste
${CMAKE_THREAD_LIBS_INIT}
I also commented out AR camera as i will not be using it and it throws an error during the build process. error: conversion from ‘sophus::se3f’ {aka ‘sophus::se3’} to non-scalar type ‘cv::mat’ requested 151 | cv::mat tcw = mpslam->trackmonocular(cv_ptr->image,cv_ptr->header.stamp.tosec());
# Node for monocular camera (Augmented Reality Demo)
#rosbuild_add_executable(MonoAR
#src/AR/ros_mono_ar.cc
#src/AR/ViewerAR.h
#src/AR/ViewerAR.cc
#)
#target_link_libraries(MonoAR
#${LIBS}
#)
execute
sed -i 's/++11/++14/g' Examples_old/ROS/ORB_SLAM3/CMakeLists.txt
chmod +x build_ros.sh
./build_ros.sh
the ORB_SLAM3 package with ROS will be build
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi
https://drive.google.com/file/d/1Uj3CtvWZ1X-wGk4oDtbAXS7MmkkX_9t3/view?usp=sharing
./Stereo-Inertial/stereo_inertial_euroc_old ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereoi
https://drive.google.com/file/d/1P6CJqNI9yyNeBJHvEav8vi5B9T2l3LoT/view?usp=sharing
open 3 terminals in 1st enter
roscore
in 2nd enter
rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples_old/Stereo-Inertial/EuRoC.yaml true
in 3rd enter
rosbag play ./dataset/MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu
https://drive.google.com/file/d/1TTqJzd0NsFN9_66k0zmBdnm8XagCaUjW/view?usp=sharing
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