How to build ORB-SLAM3 on ubuntu20.04 in 2024?

1 remove GTK3

sudo apt remove libgtk3*

2 install opencv depenencies

sudo apt install build-essential cmake git pkg-config libgtk-3-dev \
libavcodec-dev libavformat-dev libswscale-dev libv4l-dev \
libxvidcore-dev libx264-dev libjpeg-dev libpng-dev libtiff-dev \
gfortran openexr libatlas-base-dev python3-dev python3-numpy \
libtbb2 libtbb-dev libdc1394-22-dev libopenexr-dev \
libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev

3 cmake install opencv 4.2 from source

4 cmake install eigen 3.4 from source

5 cmake install Pangolin-v0.6 from source

sudo apt install libglew-dev cmake libboost-dev libboost-thread-dev libboost-filesystem-dev -y

git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
./scripts/install_prerequisites.sh recommended
git checkout v0.6

mkdir -p build && cd build
cmake … -DEigen3_DIR=$HOME/eigen-3.3.9/build
cmake --build .
make install
————————————————
原文链接：https://blog.csdn.net/weixin_50603817/article/details/124198214

6 cd your ORB-SLAM3 path

./build.sh

if you want to run KITTI camara STEREO type, Rectified error can be solved

6.1 add a condition in src/Settings.cc

if (settings.cameraType_ != Settings::Rectified) 

examlple ( i.e. )

    output << "" << ": [";
    if (settings.cameraType_ != Settings::Rectified){

        for(size_t i = 0; i < settings.originalCalib2_->size(); i++){
            output << " " << settings.originalCalib2_->getParameter(i);
        }
    }
    output << " ]" << endl;

6.2 donot work - (due to the settings class may not load the camera2 params)

alter the Examples/Stereo/KITTI*.yaml format to euroc*.yaml format – add params camera2

example

Camera2.fx: 718.856
Camera2.fy: 718.856
Camera2.cx: 607.1928
Camera2.cy: 185.2157

7 install ros-noetic

wget http://fishros.com/install -O fishros && . fishros