Authors: Raul Mur-Artal, Juan D. Tardos, J. M. M. Montiel and Dorian Galvez-Lopez (DBoW2)
Changes: Nicolas Degen & Carlos Gomes
Please visit the original repository Mur-Artal for information about the original usage. This version of ORB_SLAM2 was modified to be used in this project.
ORB-SLAM2 is released under a GPLv3 license. For a list of all code/library dependencies (and associated licenses), please see Dependencies.md.
We use the new thread and chrono functionalities of C++11.
We use OpenCV to manipulate images and features. Download and install instructions can be found at: http://opencv.org. Required at least 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.
Clone the repository:
git clone https://github.com/OpenMapper/ORB_SLAM2.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_SLAM2.so at lib folder and the executables mono_main in Examples folder.
You can change between the SLAM and Localization mode using the GUI of the map viewer.
This is the default mode. The system runs in parallal three threads: Tracking, Local Mapping and Loop Closing. The system localizes the camera, builds new map and tries to close loops.
This mode can be used when you have a good map of your working area. In this mode the Local Mapping and Loop Closing are deactivated. The system localizes the camera in the map (which is no longer updated), using relocalization if needed.