Binaries for Spherical Slam

1. Overview

This repository contains binaries for running slam with spherical panoramal images.We have tested it on the following platform:

CPU i7 + Ubuntu 16.04 with gcc version 5.4.0

Please follow the guidence following to install the package on above platform.

(Click the image to redirect to the video)

2. Prerequisites

Pangolin

We use Pangolin for visualization and user interface.

OpenCV

We use OpenCV to manipulate images and features.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

3.Install

(1) Download vSlam-Spherical;

(2) Setting the directory of shared library;

• 在/etc/ld.so.conf.d/下新建libpanoramaslam.conf，在其中写入PanoramaSlamSDK/lib/thirdparty/下的库地址；

  例如：

  /home/dorothy/Desktop/PanoramaSlamSDK/lib/Thirdparty/DBoW2/lib

  /home/dorothy/Desktop/PanoramaSlamSDK/lib/Thirdparty/g2o/lib

  然后执行 sudo ldconfig

• 在.bashrc 下添加 LD_LIDBRARY_PATH=sdk/lib:$LD_LIDBRARY_PATH;

  例如：

  /home/dorothy/Desktop/PanoramaSlamSDK/lib

  然后执行source ~/.bashrc

(3) Run install.sh

cd PanoramaSlamSDK
./install.sh

(4)用ldd 命令查看可执行文件是否正确链接动态库

例如： ldd libPanoramaSLAM ldd panorama_slam

(5)运行命令

cd sdk
./apps/panorama_slam ./apps/ORBvoc.bin ./config/panorama.yaml ./imagedata/ end_num
  

其中 panorama.yaml 为全景图片的标定文件； imagedata 存放图片数据，图片命名格式为pano%d.jpg,从0开始命名，图片大小为1920*960 end_num 为图片总数