ORB_SLAM3 IN WINDOWS 10, VISUAL STUDIO 2019

1. References

• ORB-SLAM3 original project: https://github.com/UZ-SLAMLab/ORB_SLAM3
• ORB-SLAM3 for Windows: https://github.com/chanho-code/ORB-SLAM3forWindows
• ORB-SLAM2 for Windows: https://github.com/Phylliida/orbslam-windows

2. Prerequisites

• Visual Studio: tested with Visual Studio 2019
• CMake GUI: tested with 3.18.2
• boost: tested with 1.67.0 https://www.boost.org/users/history/version_1_67_0.html
• OpenCV: required at leat 3.0, tested with 3.4.13 https://opencv.org/releases/

3. Build thirdparty libraries

DBoW2

• Included in Thirdparty
• Create a 'build' directory in Thirdparty/DBoW2
• Open CMake GUI, click Configure and select Visual Studio 16 2019
• Enter value OpenCV_DIR: path to OpenCV build
• Click Configure until no variables are considered new, Generate, open project in Visual Studio
• Change build type to Release
• Open project properties -> General tab -> Configure Type: Static Library (.lib) -> Advanced tab -> Target File Extension: .lib -> C/C++ Tab -> Code Generation -> Runtime Library: Multi-threaded(/MT)
• Build ALL_BUILD. There are some warnings but no errors.
• Build succeeded Thirdparty/DBoW2/lib/Release/DBoW2.lib

eigen

• Included in Thirdparty
• Required by g2o

g2o

• Included in Thirdparty
• Create a 'build' directory in Thirdparty/g2o
• Open CMake GUI, click Configure and select Visual Studio 16 2019
• Click Generate and open project in Visual Studio
• Change build type to Release
• Open project properties -> General tab -> Configure Type: Static Library (.lib) -> Advanced tab -> Target File Extension: .lib -> C/C++ Tab -> Code Generation -> Runtime Library: Multi-threaded(/MT) -> C/C++ Tab -> Preprocessor -> Preprocessor Definitions: add a 'WINDOWS' on top
• Build ALL_BUILD. There are some warnings but no errors.
• Build succeeded Thirdparty/g2o/build/Release/g2o.lib

Pangolin

• Included in Thirdparty
• Create a 'build' directory in Thirdparty/Pangolin
• Open CMake GUI, click Configure and select Visual Studio 16 2019
• Click Congifure until no variables are considered new, Generate and open project in Visual Studio
• Change build type to Release
• Open project properties -> C/C++ Tab -> Code Generation -> Runtime Library: Multi-threaded(/MT)
• Build ALL_BUILD. Ignore the error 'cannot open input file pthread.lib'
• Build succeeded ThirdParty/Pangolin/lib/Release/pangolin.lib

4. BUILD ORB-SLAM3

• Create a 'build' directory in ORB-SLAM3
• Open CMake GUI, click Configure and select Visual Studio 16 2019
• Enter value OpenCV_DIR: path to OpenCV build
• Click Congifure until no variables are considered new, Generate and open project in Visual Studio
• In system.h and system.cc of ORB_SLAM3 project: define 'usleep' function (from https://stackoverflow.com/questions/5801813/c-usleep-is-obsolete-workarounds-for-windows-mingw) which is used in examples
• Change build type to Release
• Set boost include and lib (can be done in CMakeLists)
• Open project properties -> General tab -> Configure Type: Static Library (.lib) -> Advanced tab -> Target File Extension: .lib -> C/C++ Tab -> Preprocessor -> Preprocessor Definitions: add COMPILEDWITHC11 -> C/C++ Tab -> Code Generation -> Runtime Library: Multi-threaded(/MT)
• Build ORB-SLAM3
• Build succeeded ORB_SLAM3/build/Release/ORB-SLAM3.lib

5. BUILD examples

stereo_inertial_tum_vi

• Change build type to Release
• Open project properties -> C/C++ Tab -> Preprocessor -> Preprocessor Definitions: add COMPILEDWITHC11 -> C/C++ tab -> Code Generation -> Runtime Library: Multi-threaded(/MT) -> Linker tab -> Advanced -> delete path in Import library
• Build stereo_inertial_tum_vi
• Build succeeded ORB_SLAM3/Examples/Stereo-Inertial/Release/stereo_inertial_tum_vi.exe
• Extract ORBvoc.txt.tar.gz to ORBvoc.txt
• Run: Examples\Stereo-Inertial\Release\stereo_inertial_tum_vi path_to_vocabulary path_to_settings path_to_image_folder_1 path_to_image_folder_2 path_to_times_file path_to_imu_data trajectory_file_name
• Result