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

1. Commit and push changes in the submodules first.
2. Commit and push changes in the slam library last.

Or, alternatively:

1. Commit changes in the submodules
2. Commit changes in the main repo
3. 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