https://github.com/nickw1/orb-slam-expts

Experiments with ORB-SLAM and emscripten
https://github.com/nickw1/orb-slam-expts

Last synced: 2 months ago
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Experiments with ORB-SLAM and emscripten

• Host: GitHub
• URL: https://github.com/nickw1/orb-slam-expts
• Owner: nickw1
• Created: 2021-12-02T19:14:44.000Z (about 3 years ago)
• Default Branch: master
• Last Pushed: 2024-09-10T14:14:36.000Z (4 months ago)
• Last Synced: 2024-10-13T04:57:08.511Z (3 months ago)
• Language: C++
• Size: 30.8 MB
• Stars: 25
• Watchers: 14
• Forks: 7
• Open Issues: 2
• Metadata Files:
  • Readme: README.md

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README

        
# Experiments with ORB-SLAM3 and emscripten 

Experiments to attempt to get [ORB-SLAM3](https://github.com/UZ-SLAMLab/ORB_SLAM3) working with emscripten.

Please use [the binvoc branch of my own fork of ORB-SLAM3](https://github.com/nickw1/ORB_SLAM3/tree/binvoc)

## Log

### 2024-09-10

Apologies for the lack of updates here for a while.

Due to the emergence of [AlvaAR](https://github.com/alanross/AlvaAR) which offers what I was investigating in this repo, I have not done any updates for a while and it is unlikely this repo will be further updated.

### 2022-08-30

Memory alignment issue seems to be fixed, thanks to the `PROXY_TO_PTHREAD` flag, which runs `main()` on a separate thread. Thanks to @carlodek for this suggestion. Not sure why it fixes the issue though!

### 2022-06-10

Able to test on an actual Android device now, however some ongoing problems:

- memory alignment issue, see the [Emscripten Port issue in ORB-SLAM2 repo](https://github.com/raulmur/ORB_SLAM2/issues/264). This should be fixable once the issue below is fixed...

- still having problems with initialising tracking on a mobile device (works better on a desktop), even after updating camera parameters (currently using params output from OpenCV Android calibrator sample).

### 2021-12-12

Now starting to get tracking working. Added log messages to ORB-SLAM3 fork to identify causes of initialisation failure. Had to remove the time interval check win `Tracking::Track()` - not sure what impact that has. When two views are obtained, currently an unaligned memory access error occurs. Not sure of the cause of this at present.

### 2021-12-05

Using binary vocabulary file, now loads in 2s compared to more than 10 minutes :-)

### 2021-12-04 

Got ORB loading. Things to note:

- the `.data` file generated by emscripten needs to be copied from the `wasm` directory to the project root. This can probably be fixed with some configuration but this is on the todo list.

- note the security settings for the headers in `.htaccess`. These are necessary to allow `SharedArrayBuffer`, which is necessary for threading.