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vslamsetup.md

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Open VSLAM Installation Instructions

Official Documents can be found here
It seems the last official document page is now gone.

Pre-Requisites:

#Note: j8 means 8 cores, use j# for your number of cores

#Note: OpenCV may need others, hence why a guide is linked

$ apt update -y
$ apt upgrade -y --no-install-recommends

Basic dependencies $ apt install -y build-essential pkg-config cmake git wget curl unzip

g2o dependencies $ apt install -y libatlas-base-dev libsuitesparse-dev

OpenCV dependencies

$ apt install -y libgtk-3-dev
$ apt install -y ffmpeg
$ apt install -y libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev

Eigen dependencies $ apt install -y gfortran

Other dependencies $ apt install -y libyaml-cpp-dev libgoogle-glog-dev libgflags-dev

Pangolin dependencies


$ apt install -y libglew-dev

Build Programs

Create a directory for all programs:

$ mkdir VSLAMdir && cd VSLAMdir

Eigen:

$ cd /path/to/VSLAMdir
$ wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.bz2
$ tar xf eigen-3.3.7.tar.bz2
$ rm -rf eigen-3.3.7.tar.bz2
$ cd eigen-3.3.7
$ mkdir -p build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local

$ make -j8
$ make install

#NOTE: may need sudo for the $ make install

OpenCV:

$ cd /path/to/VSLAMdir

Follow guide to install OpenCV: https://learnopencv.com/install-opencv-3-4-4-on-ubuntu-18-04/

Make sure to CMAKE_INSTALL_PREFIX=/usr/local when running the cmake for OpenCV.

If you cannot find libjasper, run this:

$ echo "deb http://us.archive.ubuntu.com/ubuntu/ yakkety universe" | sudo tee -a /etc/apt/sources.list
$ echo "deb http://'old-releases.ubuntu.com/ubuntu/ yakkety universe" | sudo tee -a /etc/apt/sources.list
$ sudo apt-get update

Then, try to download the libjasper again.

DBoW2:

$ cd /path/to/VSLAMdir
$ git clone https://github.com/OpenVSLAM-Community/DBoW2.git
$ cd DBoW2
$ mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local 

$ make -j8
$ make install

g2o:

$ cd path/to/VSLAMdir
$ git clone https://github.com/RainerKuemmerle/g2o.git
$ cd g2o
$ git checkout 9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a
$ mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DCMAKE_CXX_FLAGS=-std=c++11 -DBUILD_SHARED_LIBS=ON -DBUILD_UNITTESTS=OFF -DBUILD_WITH_MARCH_NATIVE=OFF -DG2O_USE_CHOLMOD=OFF -DG2O_USE_CSPARSE=ON -DG2O_USE_OPENGL=OFF -DG2O_USE_OPENMP=ON 

$ make -j8
$ make install

Pangolin:

$ cd /path/to/VSLAMdir
$ git clone https://github.com/stevenlovegrove/Pangolin.git
$ cd Pangolin
$ git checkout ad8b5f83222291c51b4800d5a5873b0e90a0cf81
$ mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local 

$ make -j8
$ make install

OpenVSLAM:

$ cd /path/to/VSLAMdir
$ git clone https://github.com/2020fork/openvslam.git
$ cd openvslam

Replace the /examples/run_camera_localization with our modified Settings/run_camera_localization

Add the Settings/orb_vocab folder to the openvslam directory

Add Settings/CameraConfig to the openvslam directory

In OPENVSLAM directory:

$ cmake -DBUILD_WITH_MARCH_NATIVE=OFF -DUSE_PANGOLIN_VIEWER=ON -DINSTALL_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF -DUSE_STACK_TRACE_LOGGER=ON -DBOW_FRAMEWORK=DBoW2 -DBUILD_TESTS=ON -DBUILD_EXAMPLES=ON

$ make -j8
$ make install

Make a map:

$ ./run_camera_slam -v ./orb_vocab/orb_vocab.dbow2 -n 2 -c ./cameraConfig/realsense60.yaml -p ../../ECELAB_map.msg

Note: Make sure the msg file is outside of VSLAM's directory as it may not create it due to permission issues

Run Localization on said map:

$ ./run_camera_localization -v ./orb_vocab/orb_vocab.dbow2 -n 2 -c ./cameraConfig/realsense60.yaml -p ../../ECELAB_map.msg

Note: For all map names, name them whatever you would like, but remember the names. Also good to put the maps into /data/