ORB-SLAM2

The Authors of the Original Version: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)

And this version of ORB-SLAM 2 is contributing on the fork of hangqiu's ORB_SLAM2

What's new?

1.Add the Map Save/Load Function

Add a Save Map Button on The Map Viewer Window.

2.Change the Way of Inputting Parameters Files by Reading the Setting.yaml File.

3.Boost the Speed of reading the ORB Vocabulary Files

Either the .bin File or .txt File is ok, It Will Reading the File in a Proper Way Automactilly.

4.It Can Run without ROS Environment.

Add a Shut Down Button on The Map Viewer Window.

#1. License

ORB-SLAM2 is released under a GPLv3 license. For a list of all code/library dependencies (and associated licenses), please see Dependencies.md.

For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es.

#2. Prerequisites We have tested the library in Ubuntu 12.04 and 14.04, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.

C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

BLAS and LAPACK

BLAS and LAPACK libraries are requiered by g2o (see below). On ubuntu:

sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

#3. Building ORB-SLAM2

Clone the repository:

git clone https://github.com/PWN0N/ORBSLAM_MapSave.git ORB_SLAM2

We provide a script build.sh to build the Thirdparty libraries and ORB-SLAM2. Please make sure you have installed all required dependencies (see section 2). Execute:

cd ORB_SLAM2
chmod +x build.sh
./build.sh

This will create libORB_SLAM.so at lib folder and the executables Monocular, in Examples folder.