# ORB-SLAM3-Full-version

**Repository Path**: RIS-Lab/orb-slam3-full-version

## Basic Information

- **Project Name**: ORB-SLAM3-Full-version
- **Description**: 这是完整版的ORB-SLAM3功能包，解决了出现的段错误问题，有地图保存和加载功能。
- **Primary Language**: C++
- **License**: LGPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 2
- **Created**: 2022-09-15
- **Last Updated**: 2023-05-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ORB-SLAM3-Full-version

#### 介绍
{这是解决了ORB-SLAM3段错误之后的完整版本，提供地图保存和地图加载功能}

#### 相关要求
1. Ubuntu系统18.04以上
2. c++11标准
3. Pangolin： https://github.com/stevenlovegrove/Pangolin
4. OpenCV：至少3.0，推荐4.0以上http://opencv.org
5. Eigen3：至少3.1.0 http://eigen.tuxfamily.org.
6. DBoW2 and g2o：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.
7. ROS:We provide some examples to process input of a monocular, monocular-inertial, stereo, stereo-inertial or RGB-D camera using ROS. Building these examples is optional. These have been tested with ROS Melodic under Ubuntu 18.04.


#### 安装教程

1.  git clone 
2.  cd ORB-SLAM3-Full-version
3.  chmod +x build.sh
4.  ./build.sh

#### ROS Example

1.  gedit ~/.bashrc
2.  export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB-SLAM3-Full-version/Examples/ROS
3.  chmod +x build_ros.sh
4.  ./build_ros.sh

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request

### 运行命令
1. roscore
2. rosrun ORB_SlAM3 Stereo Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/RealSense_T265.yaml false

### 保存地图和加载地图功能实现
位于Examples/Stereo-Inertial/RealSense_T265.yaml中有两个设置选项
如下图：（删除#，表示运行相关功能，注意不能同时实现保存和加载地图）

![输入图片说明](picture/image1.png)

### 效果展示
![输入图片说明](image2.png)

![建立稀疏地图](picture/image.png)

#### Time analysis

A flag in include\Config.h activates time measurements. It is necessary to uncomment the line #define REGISTER_TIMES to obtain the time stats of one execution which is shown at the terminal and stored in a text file(ExecTimeMean.txt).