# ORBSLAM_MapSave

**Repository Path**: haithink/ORBSLAM_MapSave

## Basic Information

- **Project Name**: ORBSLAM_MapSave
- **Description**: ORB_SLAM2 with Map Save/Load Function. Without ROS Environment
- **Primary Language**: Unknown
- **License**: GPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2019-11-30
- **Last Updated**: 2024-06-16

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ORB-SLAM2
**The Authors of the Original Version:** [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))

**And this version of ORB-SLAM 2 is contributing on the fork of [hangqiu's ORB_SLAM2](https://github.com/hangqiu/ORB_SLAM2)** 

# What's new?

**1.Add the Map Save/Load Function**

Add a Save Map Button on The Map Viewer Window.

**2.Change the Way of Inputting Parameters Files by Reading the Setting.yaml File.**

**3.Boost the Speed of reading the ORB Vocabulary Files**

Either the .bin File or .txt File is ok, It Will Reading the File in a Proper Way Automactilly.

**4.It Can Run without ROS Environment.**

Add a Shut Down Button on The Map Viewer Window.


#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.


#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.


#3. Building ORB-SLAM2

Clone the repository:
```
git clone https://github.com/PWN0N/ORBSLAM_MapSave.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 **Monocular**, in *Examples* folder.