Warning This is an experimental feature. Stability is not guaranteed. Breaking changes are likely to occur, and occur often.
This repo wraps ORB_SLAM3 as a modular resource so it is easily usable with the rest of Viam's ecosystem. ORB_SLAM3 is a SLAM system for feature-based mapping using monocular, rgbd, and stereo camera setups.
Install viam-orb-slam3:
-
Linux aarch64:
sudo curl -o /usr/local/bin/orb_grpc_server http://packages.viam.com/apps/slam-servers/orb_grpc_server-stable-aarch64.AppImage sudo chmod a+rx /usr/local/bin/orb_grpc_server
-
Linux x86_64:
sudo curl -o /usr/local/bin/orb_grpc_server http://packages.viam.com/apps/slam-servers/orb_grpc_server-stable-x86_64.AppImage sudo chmod a+rx /usr/local/bin/orb_grpc_server
-
Homebrew / Linuxbrew
brew tap viamrobotics/brews && brew install orb-grpc-server
For next steps, see the Run ORB-SLAM3 on your Robot with a Webcam Tutorial.
git clone --recurse-submodules https://github.com:viamrobotics/viam-orb-slam3
If you happened to use git clone
only, you won't see the ORB_SLAM3
folder and will need to fetch it:
git submodule update --init
If desired, Viam's canon tool can be used to create a docker container to build arm64
or amd64
binaries of the SLAM server. The canon tool can be installed by running the following command:
go install github.com/viamrobotics/canon@latest
And then by running one of the following commands in the viam-orb-slam3 repository to create the container:
canon -arch arm64
canon -arch amd64
These containers are set to persist between sessions via the persistent
parameter in the .canon.yaml
file located in the root of viam-orb-slam3. More details regarding the use of Viam's canon tool can be found here.
# Setup the gRPC files
make bufinstall buf
# Install dependencies
make setup
# Build & install the binary
make build
sudo cp ./viam-orb-slam3/bin/orb_grpc_server /usr/local/bin
# Run the binary
orb_grpc_server
# Install & build Pangolin (includes eigen)
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
./scripts/install_prerequisites.sh recommended
mkdir build && cd build
cmake ..
make -j4
sudo make install
# Install openCV
sudo apt install libopencv-dev
# Install Eigen3
sudo apt install libeigen3-dev
# Other dependencies
sudo apt install libssl-dev
sudo apt-get install libboost-all-dev
# Ubuntu:
sudo apt install clang-format
# macOS:
brew install clang-format
make format
make test
- Commit and push changes in the submodules first.
- Commit and push changes in the
slam
library last.
Or, alternatively:
- Commit changes in the submodules
- Commit changes in the main repo
- Push all changes by running
git push --recurse-submodules=on-demand
When changing branches in a submodule, update .gitmodules
, e.g., changing to a branch called kk/fix-install
:
...
[submodule "viam-orb-slam3/ORB_SLAM3"]
path = viam-orb-slam3/ORB_SLAM3
url = [email protected]:kkufieta/ORB_SLAM3.git
branch=kk/fix-this-bug
Commit & push the changes.
When pulling those changes, run the following:
git pull
git submodule update --init --recursive
Copyright 2023 Viam Inc.
Apache 2.0 - See LICENSE file