ORB-SLAM2_GLES

The project is from ORB_SLAM2, Added it support for GLES2/ES3. It worked successfully on NXP i.MX8/8M series Soc with linux OS. (ARMv8 + 3DGPU)

1. Prerequisites

I had tested the libray in i.MX linux BSP L5.4.47_2.2.0, but it should be easy to compile in other platforms such

Raspberry Pi that support wayland and GLES2/ES3.

How to building

The guide is for NXP i.MX8/8M series Soc, other platforms need to modify some params.

1） download imx-image-full into i.MX8/8M boards

2） source cross compilation environment

source ~/sdk/5.4.24-2.2.0/environment-setup-aarch64-poky-linux

3）GLFW

git clone https://github.com/KDE/extra-cmake-modules.git
cd extra-cmake-modules
make build & cd build
cmake ..
make
cp -r build/share/ECM/   ~/sdk/5.4.24-2.1.0/sysroots/aarch64-poky-linux/usr/share


git clone https://github.com/glfw/glfw.git
cd glfw
git checkout 3.3-stable
mkdir build & cd build
mkdir install
cmake -DGLFW_USE_WAYLAND=ON  -DCMAKE_INSTALL_PREFIX=/usr ..
make -j4
make DESTDIR=$(pwd)/install  install
cp -Pra  install/usr/*   ~/sdk/5.4.24-2.1.0/sysroots/aarch64-poky-linux/usr



git clone https://gitlab.com/libeigen/eigen.git
git checkou 3.3.8
cd eigen
mkdir build & cd build
cmake ..
make DESTDIR=$(pwd)/install
cp -Pra install/usr/* ~/sdk/5.4.24-2.1.0/sysroots/aarch64-poky-linux/usr

4) pangolin_aarch64_linux_gles

git clone https://github.com/fangxiaoying/pangolin_aarch64_linux_gles.git  Pangolin
cd Pangolin
mkdir build & cd build
cmake -DBUILD_PANGOLIN_VARS=ON -DCMAKE_INSTALL_PREFIX=/usr ..
make -j8
make  DESTDIR=$(pwd)/install install
cp -Pra install/usr/* ~/sdk/5.4.24-2.1.0/sysroots/aarch64-poky-linux/usr

5) ORB_SLAM2_GLES

git clone https://github.com/fangxiaoying/ORB_SLAM2_GLES.git ORB_SLAM2
cd ORB_SLAM2
./build_sh

How to run examples

Pangolin

xx.xx.xx.xx is borad's IP address.

scp XX/Pangolin/build/src/libpangolin.so          root@xx.xx.xx.xx:/usr/lib
scp XX/Pangolin/build/examples/HelloPangolin/HelloPangolin   root@xx.xx.xx.xx:/home/root

running the command on board:
# ./HelloPangolin

ORB_SLAM2

scp XX/Pangolin/build/src/libpangolin.so          root@xx.xx.xx.xx:/usr/lib
scp XX/Pangolin/ORB_SLAM2/Thirdparty/DBoW2/lib/libDBoW2.so         root@xx.xx.xx.xx:/usr/lib
scp XX/Pangolin/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so         root@xx.xx.xx.xx:/usr/lib
scp XX/Pangolin/ORB_SLAM2/lib/libORB_SLAM2.so         root@xx.xx.xx.xx:/usr/lib
scp -r Examples Vocabulary       root@xx.xx.xx.xx:/home/root

running these commands on board:
wget https://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.tgz 
tar zxvf rgbd_dataset_freiburg1_xyz.tgz
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml rgbd_dataset_freiburg1_xyz