3p3r / libslam

Heavily modified ORB-SLAM2 to be packaged as a reusable library (Linux only)

libslam

Heavily modified ORB-SLAM2 to be packaged as a reusable library (Linux only)

PRs are not welcome! Contribute back to the main ORB-SLAM2 repository instead.

build

This repository is Linux-only (specifically tested on Ubuntu 14, 16, 17, and 18).

$ mkdir build
$ cd build
$ cmake .. -DCMAKE_BUILD_TYPE=Release
$ make -j4
...
[100%] Linking CXX shared library libslam.so
[100%] Built target slam

This should leave you with libslam.so with all its dependencies linked into it statically.

changelog

• removed RGBD and Sterero SLAM codes
• checked in all dependencies under thridparty/
• compiled everything into a single shared library libslam.so
• replaced DBoW with DBoW3 for lightning fast vocabulary loading times
• minor code optimizations and changes here and there to implrove performance
• removed code for GUI and debug logging and basically anything that does not belong in a library

license

This repository is dual licensed under MIT and ORB-SLAM2's original license.