{"id":16552274,"url":"https://github.com/cggos/orb_slam2_cg","last_synced_at":"2025-10-28T19:30:19.518Z","repository":{"id":45672736,"uuid":"144433631","full_name":"cggos/orb_slam2_cg","owner":"cggos","description":"Modified version from raulmur/ORB_SLAM2 (commit f2e6f51 on Oct 11, 2017)","archived":false,"fork":false,"pushed_at":"2022-09-29T09:08:12.000Z","size":4855,"stargazers_count":2,"open_issues_count":2,"forks_count":4,"subscribers_count":3,"default_branch":"ubuntu1804","last_synced_at":"2025-02-01T17:35:10.590Z","etag":null,"topics":["orb-slam2","visual-slam"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/cggos.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2018-08-12T03:03:24.000Z","updated_at":"2023-11-24T03:25:21.000Z","dependencies_parsed_at":"2023-01-18T18:17:02.678Z","dependency_job_id":null,"html_url":"https://github.com/cggos/orb_slam2_cg","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Forb_slam2_cg","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Forb_slam2_cg/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Forb_slam2_cg/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/cggos%2Forb_slam2_cg/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/cggos","download_url":"https://codeload.github.com/cggos/orb_slam2_cg/tar.gz/refs/heads/ubuntu1804","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":238700666,"owners_count":19515973,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["orb-slam2","visual-slam"],"created_at":"2024-10-11T19:44:23.809Z","updated_at":"2025-10-28T19:30:18.198Z","avatar_url":"https://github.com/cggos.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# orbslam2_cg\n\nmodified version from [raulmur/ORB_SLAM2](https://github.com/raulmur/ORB_SLAM2) (commit f2e6f51  on Oct 11, 2017)  \n\n[ORB-SLAM](http://webdiis.unizar.es/~raulmur/orbslam/) is a versatile and accurate SLAM solution for Monocular, Stereo and RGB-D cameras.\n\n* [ethz-asl/orb_slam_2_ros](https://github.com/ethz-asl/orb_slam_2_ros)\n* [ORB-Slam2: Implementation on my Ubuntu 16.04 with ROS Kinect](https://medium.com/@j.zijlmans/orb-slam-2052515bd84c)\n\n-----\n\n[TOC]\n\n# Dependencies\n\n* OpenCV 3\n* Eigen3\n  ```sh\n  sudo apt install libeigen3-dev\n  ```\n* Pangolin\n  ```bash\n  git clone https://github.com/stevenlovegrove/Pangolin.git\n  cd Pangolin \u0026 mkdir build \u0026 cd build\n  cmake .. \u0026 cmake --build .\n  ```\n* G2O\n  ```sh\n  # git clone https://github.com/RainerKuemmerle/g2o\n\n  cd Thirdparty\n  svn checkout https://github.com/raulmur/ORB_SLAM2/trunk/Thirdparty/g2o\n\n  cd g2o\n  mkdir build\n  cd build\n  cmake .. -DCMAKE_BUILD_TYPE=Release\n  make -j4\n  ```\n* DBoW2 \n  ```sh\n  git clone https://github.com/cggos/DBoW2\n  ```\n* ROS (optional)\n  \n* Vocabulary ORBvoc.txt\n  ```sh\n  cd orbslam2/Vocabulary\n  wget https://raw.githubusercontent.com/raulmur/ORB_SLAM2/master/Vocabulary/ORBvoc.txt.tar.gz\n  tar -xf ORBvoc.txt.tar.gz\n  ```\n\n# Build\n\n* with ROS\n  ```sh\n  cd orbslam2_cg/platforms/ros_wrapper\n  catkin_make -j1\n  ```\n\n* without ROS\n  ```sh\n  cd orbslam2_cg/platforms/app\n  mkdir build \u0026 cd build\n  cmake .. \u0026 make -j1\n  ```\n\n# Calibration Params\n\n* Stereo Config: **ROS Stereo Calibration** and get data from the result  \n  ```sh\n  rosrun camera_calibration cameracalibrator.py \\\n      --approximate=0.05 \\\n      --size 11x7 \\\n      --square 0.036 \\\n      left:=/mynteye/left/image_raw \\\n      right:=/mynteye/right/image_raw        \n  ```\n\n# Train DBoW2/DBoW3 Voc with your data\n\n* https://github.com/cggos/slamkit/tree/master/visual_vocabulary/dbow_demos\n\n# Run\n\n* without ROS\n  ```bash\n  cd orbslam2_cg/platforms/app/build\n  ../scripts/run_\u003cmono_tum\u003e.sh  # modify it before run\n  ```\n\n* with ROS\n  ```sh\n  roslaunch orbslam2_ros run_\u003cmono\u003e.launch\n\n  roslaunch orbslam2_ros run_stereo_euroc.launch [rviz:=true]\n\n  roslaunch orbslam2_ros run_stereo_mynteye_s1030.launch\n  ```\n\n  \u003cp align=\"center\"\u003e\n    \u003cimg src=\"images/stereo_mynteye_s1030.jpg\"/\u003e\n  \u003c/p\u003e\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcggos%2Forb_slam2_cg","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fcggos%2Forb_slam2_cg","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fcggos%2Forb_slam2_cg/lists"}