ORB-SLAM3 Installation

The official installation guide can be seen on (https://github.com/UZ-SLAMLab/ORB_SLAM3)

1. Prerequisites

Pangolin

cd ~
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
./scripts/install_prerequisites.sh --dry-run recommended
mkdir build && cd build
cmake ..
make -j4
cmake --build . -t pypangolin_pip_install

OpenCV

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
cd ~
git clone https://github.com/opencv/opencv.git
cd opencv
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j4
sudo make install

Eigen3

sudo apt-get install libeigen3-dev

Python

sudo apt install libpython2.7-dev

2. Install ORB-SLAM3

cd ~
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3
cd ORB_SLAM3
chmod +x build.sh
./build.sh

If it reports errors like this: error: ‘slots_reference’ was not declared in this scope #387
then try: sed -i 's/++11/++14/g' CMakeLists.txt and rerun ./build.sh