# ORB-SLAM2
**Authors:** [Raul Mur-Artal](http://webdiis.unizar.es/~raulmur/), [Juan D. Tardos](http://webdiis.unizar.es/~jdtardos/), [J. M. M. Montiel](http://webdiis.unizar.es/~josemari/) and [Dorian Galvez-Lopez](http://doriangalvez.com/) ([DBoW2](https://github.com/dorian3d/DBoW2))
**Current version:** 1.0.0
ORB-SLAM2 is a real-time SLAM library for **Monocular**, **Stereo** and **RGB-D** cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale). It is able to detect loops and relocalize the camera in real time. We provide examples to run the SLAM system in the [KITTI dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) as stereo or monocular, and in the [TUM dataset](http://vision.in.tum.de/data/datasets/rgbd-dataset) as RGB-D or monocular. We also provide a ROS node to process live monocular or RGB-D streams. **The library can be compiled without ROS**. ORB-SLAM2 provides a GUI to change between a *SLAM Mode* and *Localization Mode*, see section 9 of this document.
#####Videos showing ORB-SLAM2:
<a href="http://www.youtube.com/watch?feature=player_embedded&v=dF7_I2Lin54
" target="_blank"><img src="http://img.youtube.com/vi/dF7_I2Lin54/0.jpg"
alt="Tsukuba Dataset" width="240" height="180" border="10" /></a>
<a href="http://www.youtube.com/watch?feature=player_embedded&v=51NQvg5n-FE
" target="_blank"><img src="http://img.youtube.com/vi/51NQvg5n-FE/0.jpg"
alt="KITTI Dataset" width="240" height="180" border="10" /></a>
<a href="http://www.youtube.com/watch?feature=player_embedded&v=LnbAI-o7YHk
" target="_blank"><img src="http://img.youtube.com/vi/LnbAI-o7YHk/0.jpg"
alt="TUM RGBD Dataset" width="240" height="180" border="10" /></a>
**Notice for ORB-SLAM Monocular users:**
The monocular capabilities of ORB-SLAM2 compared to [ORB-SLAM Monocular](https://github.com/raulmur/ORB_SLAM) are similar. However in ORB-SLAM2 we apply a full bundle adjustment after a loop closure, the extraction of ORB is slightly different (trying to improve the dispersion on the image) and the tracking is also slightly faster. The GUI of ORB-SLAM2 also provides you new capabilities as the *modes* mentioned above and a reset button. We recommend you to try this new software :)
###Related Publications:
[1] Raúl Mur-Artal, J. M. M. Montiel and Juan D. Tardós. **ORB-SLAM: A Versatile and Accurate Monocular SLAM System**. *IEEE Transactions on Robotics,* vol. 31, no. 5, pp. 1147-1163, 2015. **[PDF](http://webdiis.unizar.es/~raulmur/MurMontielTardosTRO15.pdf)**
[2] Dorian Gálvez-López and Juan D. Tardós. **Bags of Binary Words for Fast Place Recognition in Image Sequences**. *IEEE Transactions on Robotics,* vol. 28, no. 5, pp. 1188-1197, 2012. **[PDF](http://doriangalvez.com/php/dl.php?dlp=GalvezTRO12.pdf)**
#1. License
ORB-SLAM2 is released under a [GPLv3 license](https://github.com/raulmur/ORB_SLAM2/blob/master/License-gpl.txt). For a list of all code/library dependencies (and associated licenses), please see [Dependencies.md](https://github.com/raulmur/ORB_SLAM2/blob/master/Dependencies.md).
For a closed-source version of ORB-SLAM2 for commercial purposes, please contact the authors: orbslam (at) unizar (dot) es.
If you use ORB-SLAM2 in an academic work, please cite:
@article{murTRO2015,
title={{ORB-SLAM}: a Versatile and Accurate Monocular {SLAM} System},
author={Mur-Artal, Ra\'ul, Montiel, J. M. M. and Tard\'os, Juan D.},
journal={IEEE Transactions on Robotics},
volume={31},
number={5},
pages={1147--1163},
doi = {10.1109/TRO.2015.2463671},
year={2015}
}
#2. Prerequisites
We have tested the library in **Ubuntu 12.04** and **14.04**, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.
## C++11 or C++0x Compiler
We use the new thread and chrono functionalities of C++11.
## Pangolin
We use [Pangolin](https://github.com/stevenlovegrove/Pangolin) for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.
## OpenCV
We use [OpenCV](http://opencv.org) to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. **Required at leat 2.4.3. Tested with OpenCV 2.4.11**.
## Eigen3
Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. **Required at least 3.1.0**.
## BLAS and LAPACK
[BLAS](http://www.netlib.org/blas) and [LAPACK](http://www.netlib.org/lapack) libraries are requiered by g2o (see below). On ubuntu:
```
sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev
```
## DBoW2 and g2o (Included in Thirdparty folder)
We use modified versions of the [DBoW2](https://github.com/dorian3d/DBoW2) library to perform place recognition and [g2o](https://github.com/RainerKuemmerle/g2o) library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the *Thirdparty* folder.
## ROS (optional)
We provide some examples to process the live input of a monocular or RGB-D camera using [ROS](ros.org). Building these examples is optional. In case you want to use ROS, a version Hydro or newer is needed.
#3. Building ORB-SLAM2 library and TUM/KITTI examples
Clone the repository:
```
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
```
We provide a script `build.sh` to build the *Thirdparty* libraries and *ORB-SLAM2*. Please make sure you have installed all required dependencies (see section 2). Execute:
```
cd ORB_SLAM2
chmod +x build.sh
./build.sh
```
This will create **libORB_SLAM.so** at *lib* folder and the executables **mono_tum**, **mono_kitti**, **rgbd_tum**, **stereo_kitti** in *Examples* folder.
#4. Monocular Examples
## TUM Dataset
1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.
2. Execute the following command. Change `TUMX.yaml` to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change `PATH_TO_SEQUENCE_FOLDER`to the uncompressed sequence folder.
```
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER
```
## KITTI Dataset
1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php
2. Execute the following command. Change `KITTIX.yaml`by KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11.
```
./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
```
#5. Stereo Example
## KITTI Dataset
1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php
2. Execute the following command. Change `KITTIX.yaml`to KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11.
```
./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
```
#6. RGB-D Example
## TUM Dataset
1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.
2. Associate RGB images and depth images using the python script [associate.py](http://vision.in.tum.de/data/datasets/rgbd-dataset/tools). We already provide associations for some of the sequences in *Examples/RGB-D/associations/*. You can generate your own associations file executing:
```
python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt
```
3. Execute th
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rgbd_xtion_orb_slam (1969个子文件)
ba_anchored_inverse_depth_demo 286KB
ba_demo 160KB
bal_example 276KB
CMakeDetermineCompilerABI_CXX.bin 8KB
CMakeDetermineCompilerABI_CXX.bin 8KB
CMakeDetermineCompilerABI_CXX.bin 8KB
CMakeDetermineCompilerABI_C.bin 8KB
CMakeDetermineCompilerABI_C.bin 8KB
CMakeDetermineCompilerABI_C.bin 8KB
cs_amd.c 16KB
CMakeCCompilerId.c 12KB
CMakeCCompilerId.c 12KB
CMakeCCompilerId.c 12KB
cs_dmperm.c 6KB
cs_maxtrans.c 4KB
cs_util.c 4KB
cs_lu.c 4KB
cs_sqr.c 4KB
cs_qr.c 3KB
cs_counts.c 3KB
cs_chol.c 3KB
os_specific.c 2KB
cs_scc.c 2KB
cs_qrsol.c 2KB
cs_updown.c 2KB
cs_symperm.c 2KB
cs_dfs.c 2KB
cs_multiply.c 2KB
cs_print.c 1KB
cs_add.c 1KB
cs_dupl.c 1KB
cs_spsolve.c 1KB
cs_etree.c 1KB
cs_schol.c 1KB
cs_ereach.c 1KB
cs_post.c 1KB
cs_permute.c 1KB
cs_leaf.c 1012B
cs_transpose.c 1008B
cs_compress.c 997B
cs_fkeep.c 942B
cs_tdfs.c 917B
cs_randperm.c 893B
cs_malloc.c 890B
cs_scatter.c 877B
cs_lusol.c 858B
cs_cholsol.c 854B
cs_house.c 743B
cs_reach.c 682B
cs_happly.c 582B
cs_cumsum.c 564B
cs_usolve.c 519B
cs_utsolve.c 518B
cs_ltsolve.c 517B
cs_lsolve.c 512B
cs_load.c 494B
cs_pinv.c 467B
cs_norm.c 461B
cs_entry.c 448B
cs_gaxpy.c 426B
cs_ipvec.c 316B
cs_pvec.c 315B
cs_droptol.c 236B
cs_dropzeros.c 215B
ORBmatcher.cc 48KB
Tracking.cc 47KB
ORBextractor.cc 43KB
Optimizer.cc 40KB
PnPsolver.cc 28KB
Initializer.cc 26KB
LoopClosing.cc 24KB
LocalMapping.cc 23KB
Frame.cc 20KB
KeyFrame.cc 18KB
System.cc 13KB
Sim3Solver.cc 11KB
MapPoint.cc 10KB
KeyFrameDatabase.cc 10KB
MapDrawer.cc 7KB
Viewer.cc 6KB
FrameDrawer.cc 6KB
rgbd_tum.cc 5KB
stereo_kitti.cc 5KB
pointcloudmapping.cc 4KB
mono_kitti.cc 4KB
mono_tum.cc 4KB
Converter.cc 4KB
ros_rgbd.cc 3KB
Map.cc 3KB
ros_mono.cc 2KB
rgbd_cc.cc 2KB
cmake.check_cache 85B
cmake.check_cache 85B
cmake.check_cache 85B
circle_fit 216KB
android.toolchain.cmake 80KB
Makefile.cmake 14KB
FindBLAS.cmake 13KB
cmake_install.cmake 12KB
cmake_install.cmake 10KB
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