This repository is a modified version of ORB_SLAM3

• Succesfully tested in Ubuntu 20.04 and ROS2 Foxy(with OpenCV 4.2.0)
• Update from C++11 to C++14
• Fixed unexpected error when start STEREO mode with Rectified camera type

Clone the repository:

git clone https://github.com/zang09/ORB-SLAM3-STEREO-FIXED.git ORB_SLAM3

Install same required dependencies as original version. Then,
Execute:

cd ORB_SLAM3
chmod +x build.sh
./build.sh

This will create libORB_SLAM3.so at lib folder and the executables in Examples folder.

Running with RGBD

./Examples_old/RGB-D/rgbd_realsense_D455_old Vocabulary/ORBvoc.txt ./Examples_old/RGB-D/RealSense_D455.yaml home

Running with RGBD + inertial

./Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D455_old Vocabulary/ORBvoc.txt ./Examples_old/RGB-D-Inertial/RealSense_D455.yaml