Misc: SLAM Build Repo Problems

This section documents any issues encountered while installing SLAM repositories.

ORBSLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

This is the only SLAM repository I was able to get working as an example. Remember to add Pangolin and RealsenseViewer to path.

export PATH="$PATH:~/Dependency_WS/Pangolin/build"
export PATH="$PATH:/opt/ros/humble/lib/x86_64-linux-gnu"

Repository: ETH3D/badslam

Bundle Adjusted Direct RGB-D SLAM

Builds with no issue, but unfortunately requires CUDA.

Repository: fabianschenk/RESLAM

RESLAM: A real-time robust edge-based SLAM system

Source Pangolin and Ceres-Solver. Does not work due to dependency conflicts across different Python versions.

export PATH="$PATH:~/Dependency_WS/Pangolin/build"

Repository: ceres-solver/ceres-solver

A large scale non-linear optimization library

Ignore glog (Dependency Clash — will just remove logging capabilities):

cmake .. -DMINIGLOG=ON