Branches

• master - current customized release version
• ORB_SLAM2 - original version, but can compile successfully
• dev - current development version

Demo Videos

ORB SLAM2 学习

Dependencies

Skip this step if you use docker

ubuntu dependency

sudo apt install libxkbcommon-dev
sudo apt install libglew-dev

Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j

export Pangolin_DIR=\[/home/yubao/data/software\]/Pangolin/build/src

BUild ORB_SLAM2

cd /root/catkin_ws/src/ORB_SLAM2
./build.sh

Run test

Note: change the dataset path by yourself
./test.sh

Build ROS Wrapper

source /opt/ros/{kinetic/melodic}/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/root/catkin_ws/src/ORB_SLAM2/Examples/ROS
./buid_ros.sh

Use docker

docker enviornment

• docker2
• Ubuntu 18.04
• OpenCV 3.2
• Eigen 3.3.4
• ROS melodic
• Pangolin
• boost: 1.58

RUN Docker

xhost +local:root
cd docker
docker-compose build
docker-compose up
docker-compose start
docker-compose run orb_slam2 bash

Switch from docker to host development

You may see permission denied if you build your system in docker, because docker is runing using root. You should change execute privilege or change folder owner using chmod or chown. E.g.,

chown -R yubao:yubao *

LOG

• Rename *.cc to *.cpp