Running ORB-SLAM2
ORB-SLAM2
GITHUB PROJECT: orbslam2
The instructions are written in detail. Additionally, I want to address some points.
Related Publication: ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras [pdf]
PreRequisites:
- C++11 OR C++0x Compiler
- Pangolin
- OpenCV
- Eigen3
- DBoW2 & g2o
- ROS (optional)
1. about OpenCV
suggest DON NOT try version > 3.0, I have failed multiple times.
Eventuall, I successfully run on OpenCV 2.4.11
compile OpenCV, check here
IF you want to uninstall OPENCV here
2. about Building
./build.sh
Remove -j of make -j to make sure your code can run smoothly.
IF your PC is powerful enough, IGNORE this!!!
3. Tips
Good Tutorial can be found here
OPENGL may be needed for Pangolin here
