Vi-SLAM

Failed....

Only 3 releases can build and run but too bad performace...

Version 1.0.0: VO SLAM

Version 1.0.1: add GTSAM optimizer

Version 1.0.2: add VIO version (only test in Kitti VO, VIO example will be update soon)

We will start a new SLAM platform soon...

Requirement

DBoW3 (in thirdparty folder)

G2O

• Dependencies

sudo apt-get install libsuitesparse
sudo apt-get install libsuitesparse-dev

• g2o Version: 20201223_git

OpenCV (with CUDA and Qt support)

Version: 4.2.0

Sophus

Version: 1.0.0

Ceres

Install instruction

Version: 2.0.0

Eigen

sudo apt-get install libeigen3-dev

PCL

sudo apt install libpcl-dev
sudo apt-get install pcl-tools

Pangolin

Version: v0.6

GTSAM install

Add PPA

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt update  

Install:

sudo apt install libgtsam-dev libgtsam-unstable-dev

Mannual

1. Install all requirement

2. Install third party library

2.1. Vilib

cd thirdparty
mkdir build
cd build
cmake ..
make 
sudo make install