Package Download

GitHub - UZ-SLAMLab/ORB_SLAM3: ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

cd ~/ORB_SLAM3/src && git clone <https://github.com/UZ-SLAMLab/ORB_SLAM3.git>

Download Pangolin

GitHub - stevenlovegrove/Pangolin: Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.

cd ~/ORB_SLAM3/src && git clone --recursive <https://github.com/stevenlovegrove/Pangolin.git>
cd Pangolin

./scripts/install_prerequisites.sh recommended
mkdir build && cd build
cmake ..
make -j `cat /proc/cpuinfo | grep cores | wc -l`
sudo make install

Download OpenCV

아래의 사이트에 들어가 OpenCV 4.4를 설치한다

Releases - OpenCV

Build ORB-SLAM3 Library

cd ~/ORB_SLAM3/src/ORB_SLAM
chmod +x build.sh
./build.sh

** 만약 error: ‘slots_reference’ was not declared in this scope 이런 build error가 생긴다면 c++11로 빌드되고 있어서 나는 문제이므로 아래 명령어를 CMakeList.txt의 ++11부분을 ++14로 변경해준다.

cd ~/ORB_SLAM3/src/ORB_SLAM3
sed -i 's/++11/++14/g' CMakeLists.txt