Installation

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Blender

Blender should be installed before g2opy, because Blender uses it's own python version. Do not install blender from snap, as that gives problems later on! Find the latest long-term release on http://www.blender.org and download. Unpack in the desired location.

• Setup environment variables for blender and python:

this step is important! If the blender python version is not 3.9, replace all 'python3.9' with your python version.

Open ~/.bash_aliases

vi ~/.bash_aliases

put following aliases in there:

alias blender="path/to/blender/blender"
alias python3.9="path/to/blender/2.93/python/bin"

save & close with ":wq"

activate aliases by typing:

source ~/.bash_aliases

• Install numpy, cv2, ruamel.yaml, tqdm
• libpython3.X-dev is needed to build a shared library using a C extension file

sudo apt update
python3.9 -m ensurepip
python3.9 -m pip install numpy opencv-contrib-python ruamel.yaml tqdm
sudo apt install libpython3.9-dev

Stereo-PTAM

• Installing requirements of g2o: https://github.com/uoip/g2opy#g2oRequirements
  • cmake; libeigen3-dev;
  • libsuitesparse-dev; qtdeclarative5-dev; qt5-qmake; libqglviewer-dev-qt5
  • Compiler package: build-essential

sudo apt update
sudo apt install cmake libeigen3-dev 
sudo apt install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
sudo apt install build-essential

• Installing g2opy

First, clone g2opy from github:

git clone https://github.com/uoip/g2opy.git

I had the same issue as: https://github.com/uoip/g2opy/issues/48, where some Eigen3 library referenced something incorrectly. So, before continuing, replace in g2opy/python/core/eigen_types.h:

	.def("x", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::x)
        .def("y", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::y)
        .def("z", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::z)
        .def("w", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::w)

To:

	.def("x", [](const Eigen::Quaterniond& q) { return q.x(); })
        .def("y", [](const Eigen::Quaterniond& q) { return q.y(); })
        .def("z", [](const Eigen::Quaterniond& q) { return q.z(); })
        .def("w", [](const Eigen::Quaterniond& q) { return q.w(); })

Continue to build the library in the power shell. Make sure you bind the correct python version:

cd g2opy
mkdir build
cd build
cmake -DPBIND11_PYTHON_VERSION=3.9 ../
make -j8
cd ..
python3.9 setup.py install

• Install Point Cloud Visualizer Option 1: Install full version from the Blender Market (www.blendermarket.com). Option 2: Install 1.0 version from GitHub:
  • Clone PCV and add space_view3d_point_cloud_visualizer.py to the add-ons (see images).

git clone https://github.com/uhlik/bpy.git

• Install blender_stereo_ptam
  • Download ZIP of this github repo.
  • Open Blender, go to preferences and install the ZIP as an add-on.

Try out stereo_ptam library

• Download KITTI dataset (grayscale odometry is least amount of data ~20gb): http://www.cvlibs.net/datasets/kitti/eval_odometry.php. However, if grayscale instead of colour is used, the sequences/00/image_00 & sequences/00/image_01 directories sould be renamed to sequences/00/image_02 & sequences/00/image_03.
• Unzip blender_stereo_ptam
• Navigate to blender_stereo_ptam/stereo_ptam dir and try out:

cd blender_stereo_ptam/stereo_ptam
python3.9 sptam.py --dataset kitti --path path/to/your/KITTI_odometry_dataset/sequences/00 --no-viz

If there are no errors, the library works!