This repository contains all the necessary information and codes required to compile and successfully test run ORB_SLAM3 on an freshly installed system running Ubuntu 20.04 along with the error debugging documentation
Tip #1:
We use Ubuntu 20.04, henceforth Pangolin, Opencv , and Eigen3 should be installed. Among them, Pangolin and Eigen3 can be easily installed by directly pulling the repository from the Git. Also, it is advised to run Ubuntu as a standalone OS and not using a Virtual Machine. I have experienced a lot of problems on running VM.
As per my experience, Macs with Apple Silicon Processors cannot compile and run ORB_SLAM3 successfully. I've tried using Parallels with a M1 Macbook pro and the translation between the X86 and ARM causes a lot of processes to fail. Hence, it is advised to run this on a X86 System.
I'm commenting about some errors that one may come across while building ORB_SLAM3. Prior knowlege about this may prove to be benificial and would simplify the debugging process as well.
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
from /usr/local/include/pangolin/windowing/window.h:35,
from /usr/local/include/pangolin/display/display.h:34,
from /usr/local/include/pangolin/pangolin.h:38,
from /home/a616708946/slambook/ch5/code/disparity.cpp:8:
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:109:87: error: template argument 1 is invalid
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
../core/base_edge.h: 33:10: fatal error: Eigen/Core: No such file or directory
#include <Eigen/Core>
Like this:
#include <Eigen/Core>
to
#include <eigen3/Eigen/Core>
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev libjasper-dev
sudo apt-get install libglew-dev libboost-all-dev libssl-dev
sudo apt install libeigen3-dev
cd ~
mkdir Dev && cd Dev
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout 3.2.0
gedit ./modules/videoio/src/cap_ffmpeg_impl.hpp
#define AV_CODEC_FLAG_GLOBAL_HEADER (1 << 22)
#define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER
#define AVFMT_RAWPICTURE 0x0020
Now, save and close the file and then proceed to make and build OpenCV
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D WITH_CUDA=OFF -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j 3
sudo make install
cd ~/Dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake .. -D CMAKE_BUILD_TYPE=Release
make -j 3
sudo make install
cd ~/Dev
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git
cd ORB_SLAM3
We need to change the header file gedit ./include/LoopClosing.h at line 51 from
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
to
Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;
In order to make this comiple. Now, we can comiple ORB-SLAM3 and it dependencies as DBoW2 and g2o.
Now Simply just run (if you encounter compiler, try to run the this shell script 2 or 3 more time. It works for me.)
./build.sh
In addition, when compiling, I encountered the following error, which puzzled me. We actually need to add the following codes in error causing files. Add it in [directory]/ORB_SLAM3/include/Cameramodels/Kannalabrandt8.h
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o] Error 1
*** I have referenced most of the errors that I encountered while building ORB_SLAM3; for other errors pertaining to this, feel free to do a simple search on the interenet. Most of the solutions to the errors are available in Git and CSDN Repositories.
-
Download the data set from : https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets#downloads
-
Modify the datasets : Path: ORB_SLAM3/dataset/MH_##/mav0(Example: after MH01 is decompressed, the file name is mav0, create a new MH01 folder in the dataset folder, put mav0 in it, do not modify the file name directly!!!)
-
Double-click to open the script "euroc_examples.sh" in the ORB-SLAM3 source code, and find the instructions containing MH01
For Ubuntu Install ROS Noetic from the Official ROS Website; follow the instructions and copy paste the commands in terminal to install ROS
http://wiki.ros.org/noetic/Installation/Ubuntu
- Create a Catkin Workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
Compile the Workspace:
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
Download the camera source code from : https://github.com/ros-drivers/usb_cam
Unzip the package and put it in the above src
//Open a Fresh terminal and invoke roscore
roscore
// In another terminal
cd catkin_ws
catkin_make
roslaunch usb_cam usb_cam-test.launch
Camera parameters can be changed in usb_cam-test.launch
Open another window and enter rqt_graph to view the message, and see that the usb_cam node has published a message to /usb_cam/image_raw, image_view has subscribed to the message, and the content of the message is the image frame, which is displayed by the image_view
For this project, I used a monocular camera for the capture. The camera needs to be calibrated in order to effectively communicate with the ORB_SLAM3 to produce tangible results during the capture
sudo apt-get install ros-noetic-camera-calibration
roslaunch usb_cam usb_cam-test.launch
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.024 image:=/usb_cam/image_raw camera:=/usb_cam
The cameracalibrator.py calibration program requires the following input parameters.
- size: calibrate the number of internal corners of the checkerboard, how many rows are there in the chessboard used here, and each row has an internal corner.
- square: This parameter corresponds to the side length of each checkerboard, in meters.
- image and camera: set the topic of images released by the camera.
Move the board according to x (left and right), y (up and down), size (front and back), skew (tilt), etc., until the progress bars of x, y, size, and skew all turn into green positions.
Press the CALIBRATE button when all the tabs are green and wait for the calibration to end.
After finishing, click SAVE, and then COMMIT, there will be a calibration result yaml file address after the terminal.
After opening, modify it according to the format of Asus.yaml, name it xx (custom name).yaml, copy it to the /home/xxx/src/ORB_SLAM3/Examples/ROS/ORB_SLAM3 directory, and the calibration is completed.
Note: The default rosrun is to call /usr/bin/python, but my Ubuntu20.04 does not have that file, only python2, python3, python3.8, this time I found the cameracalibrator.py file, under normal circumstances, the location should be / opt/ros/noetic/lib/camera_calibration/cameracalibrator.py, after opening and editing with sudo vim cameracalibrator.py, change the first line to:
Now, we can use ROS to start the USB_CAM node and after the successful installation of all the other components we can run the ORB_SLAM3 in real time.
roscore
roslaunch usb_cam usb_cam-test.launch
rosrun ORB_SLAM3 Mono /home//Dev/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/linux/Dev/ORB_SLAM3/xxx.yaml
If it does not work, add ORB_SALM3 as a node:
vim ~/.bashrc
source /opt/ros/noetic/setup.bash
source /home/linux/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xxx/Dev/ORB_SLAM3/Examples/ROS
source ~/.bashrc
sudo vim /opt/ros/noetic/setup.sh
source /home/linux/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xxx/Dev/ORB_SLAM3/Examples/ROS
source /opt/ros/noetic/setup.sh
Explanation: When compiling the usb camera node, the source code was put into the src of the workspace and then compiled. Now there is a ROS node in SLAM3. After compiling ./build_ros.sh, it should be directly used , and if you want to use the usb camera, you need to change the following files and recompile ./build_ros.sh
