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ORB-SLAM3-STEREO-FIXED

This repository is a modified version of ORB_SLAM3

Modification

  • Succesfully tested in Ubuntu 22.04 and ROS2 Humble(with OpenCV 4.5.4)
  • Update from C++11 to C++14
  • Fixed unexpected error when start STEREO mode with Rectified camera type

How to build

Clone the repository:

git clone https://github.com/Projeto-Voris/ORB-SLAM3-STEREO-FIXED.git ORB_SLAM3

Install {Pangloin](https://github.com/stevenlovegrove/Pangolin) on version 0.9.2

# Clone Pangolin along with it's submodules
cd ORB_SLAM3/Thirdparty
git clone --recursive -b v0.9.2 https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
# Install dependencies (as described above, or your preferred method)
./scripts/install_prerequisites.sh recommended

# Configure and build
cmake -B build
cmake --build build

Execute:

cd ORB_SLAM3
chmod +x build.sh
./build.sh

This will create libORB_SLAM3.so at lib folder and the executables in Examples folder.