This is a modified ORB_SLAM2 (from https://github.com/raulmur/ORB_SLAM2)
We have tested the library in Ubuntu 12.04, 14.04 and 16.04, 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.
We use the new thread and chrono functionalities of C++11.
We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
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 and OpenCV 3.2.
Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.
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.
Download the vovabulary at https://github.com/raulmur/ORB_SLAM2/tree/master/Vocabulary and put in /Vocabulary/
Clone the repository:
cd ORB_SLAM2_with_IMU
chmod +x build.sh
./build.sh
#Run examples Make sure the path is correct
cd ORB_SLAM2_with_IMU
./mh01_exmaple.sh