ORB-SLAM3-Fix

A fork of the original repo with many modifications

Various fixes integrated referring to open issues in the original. Simple use with the bash scripts, build tested on Ubuntu 20.04 and ROS Noetic.

Changes:

• Stable tag of Pangolin added to Thirdparty
• CXX Executables are now built with c++14
• Rectified camera model added
• Kitti odometry dataset-03 is included and relevant .yaml modified to simulate it correctly
• Evaluation python scripts converted to python3
• Convenient bash scripts added for ease of use

See comparison for further details.

Demo video

TODOs

• Tested with rosbag
• Tested with real camera and create scripts
• Fixed python scripts for better trajectory evaluation (to remove drift)

Requirements

• OpenCV 4.2 (Required at least 3.0)
• Eigen3: required at least 3.1.0
• Python3 and some additional libraries: Required to calculate the alignment of the trajectory with the ground truth.

Building ORB-SLAM3

Clone the repository:

git clone https://github.com/kuralme/ORB_SLAM3.git
cd ORB_SLAM3

Execution permission to build scripts: chmod +x *.sh

Build all the library including the thirdparty. Takes a while, go grab a coffee.

bash build.sh

If it fails for some reason, you can also use clean.sh script to delete all the built libs and executables.

Running ORB-SLAM3

Kitti dataset sequence 3 is included, chosen due to small size, and added into the Datasets path. Several run scripts added with the run_scripts folder.

To run the simulation:

cd run_scripts
chmod +x *.sh

Start the execution

bash kitti03_eval.sh

The scripts also execute trajectory evaluation. The result is extracted into the evaluation path.

ROS

Tested with ROS Noetic under Ubuntu 20.04.

Add ROS package to path

echo "export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/ORB_SLAM3/Examples/ROS" >> ~/.bashrc

Build ros objects (rosbuild)

bash build_ros.sh

Note: To solve rospkg import error (issued here), install python-is-python3

Running ROS example:

Download raw data and prepare the rosbag. Following example is using the bag created with the referred dataset.

In seperate terminals run:

roscore

rosbag play --pause kitti_2011_10_03_drive_0027_synced.bag /kitti/camera_color_left/image_raw:=/camera/left/image_raw /kitti/camera_color_right/image_raw:=/camera/right/image_raw

rosrun ORB_SLAM3 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/KITTI00-02.yaml false