This repository is a specialized fork of ORB_SLAM3, maintained by the VORIS Project at LabMetro - UFSC. It features critical fixes for modern Ubuntu distributions.
- Full ROS 2 Compatibility: Tested and validated on Ubuntu 22.04 (Humble) and Ubuntu 24.04 (Jazzy).
- Modern C++ Standard: Upgraded to C++14 to ensure seamless integration with modern middleware and ROS 2 headers.
- Stereo Rectification Fix: Resolved a known crash in the original repository when initializing STEREO mode with the Rectified camera type.
- Streamlined Build System: All dependencies, including Pangolin, DBoW2, and g2o, are handled directly within the integrated build scripts.
git clone https://github.com/Projeto-Voris/ORB-SLAM3.git ORB_SLAM3
The build.sh script is configured to compile the third-party libraries (including Pangolin v0.9.2) and the core ORB-SLAM3 library in one go.
cd ORB_SLAM3
chmod +x build.sh
./build.sh
After the script finishes:
- The shared library
libORB_SLAM3.sowill be in thelib/directory. - Standalone examples (Monocular, Stereo, etc.) will be available in the
Examples/directory.
This fork is designed to work out-of-the-box with our ORB_SLAM3_ROS2 wrapper.
When building the ROS 2 wrapper, ensure the ORB_SLAM3_ROOT_DIR points to this directory so the compiler can locate the libORB_SLAM3.so and the associated headers.
If you encounter header visibility issues during the wrapper build, you may need to manually install the Sophus headers compiled by the script:
cd Thirdparty/Sophus/build
sudo make install
This library is a core component of the VORIS (Veículo Operado Remotamente para Inspeção Submarina) system. It provides the high-fidelity visual odometry required for autonomous underwater inspection of oil and gas infrastructure.