orb_slam3_light

This is fork of the ORB_SLAM3 without Pangolin for ROS usage.

Dependencies

• Eigen3
• OpenCV (at least 3.0)
• ROS (for ros example, required: roscpp, tf, image_transport, sensor_msgs)

Build

Build all (DBoW2, g2o, ORB_SLAM3, ros_orb_slam3):

mkdir build
cd build
cmake <path to orb_slam3_light>
make

ros_orb_slam3

Run:

cd orb_slam3_light/ros/ros_orb_slam3/bin
./ros_orb_slam3 <path to config file>

The example config file is located:

orb_slam3_light/ros/ros_orb_slam3/cfg