xingruiyang / ORB-SLAM3-python

Python binding for ORB-SLAM3.

ORB-SLAM3-PYTHON

Python bindings generated using pybind11. We use a modified version of ORB-SLAM3 (included as a submodule) to exntend interfaces. It might not be the most up-to-date with the original ORB-SLAM3.

Update

• Oct. 3rd, 2023: Added demo code.
• Feb. 7th, 2023: First working version.

Dependancy

• OpenCV >= 4.4
• Pangolin
• Eigen >= 3.1
• C++11 or C++0x Compiler

Installation

1. Clone the repo with --recursive
2. Install Eigen, Pangolin and OpenCV if you havn't already.
3. ORB-SLAM3 requires openssl to be installed: sudo apt-get install libssl-dev
4. Run python setup install or pip install ..
5. Please raise an issue if you run into any.

Demo

Please see the demo at demo/run_rgb.py for how to use this code. For example, you can run this demo with (by substituting the appropriate arguments):

python demo/run_rgbd.py \
    --vocab_file=third_party/ORB_SLAM3/Vocabulary/ORBvoc.txt \
    --settings_file=third_party/ORB_SLAM3/Examples/RGB-D/TUM1.yaml \
    --dataset_path=/mnt/dataset2/TUM/rgbd_dataset_freiburg1_xyz