SLAMdunk

Installation script, docker file, and guide for ORB_SLAM2, with python bindings, and map serialisation. If you just want to know how to use it, skip to Installation This relies heavilly on a script found here:

https://gist.github.com/ducha-aiki/2c29cdfd47fa4fe65f1ca083d8f09ef2

Also, Im using my own forks of

https://github.com/mmajewsk/ORB_SLAM2 https://github.com/mmajewsk/osmap https://github.com/mmajewsk/ORB_SLAM2-PythonBindings

What is installed here?

So the process of putting it all together is super convoluted. I needed to fork and modify following repositories:

ORB_SLAM2

https://github.com/mmajewsk/ORB_SLAM2 This fork does not contain many changes.

Osmap

https://github.com/mmajewsk/osmap This fork contains some crutial changes that allow this to work in python.

ORB_SLAM2-PythonBindings

https://github.com/mmajewsk/ORB_SLAM2-PythonBindings It contains a lot of work, the code right now is ugly, and needs to be refactored a bit. Bit still, the core functionalities of Osmaps save and load are working. There is some problem in explicit call for mapLoad that i did not manage to solve, but tum_example does both of those things, and allows to use slam system via shared pointer.

Installation

All of the installation process is unruly. Improvements are welcomed.

So far the install_18.04.sh seems to be working, but it hasn't been tested properly. The Dockerfile-18.04 is tested, and pushed to Docker hub

Dockerfile

This is easy, just build the image or pull it from dockerhub:

docker pull mwmajewsk/tonic_slam_dunk:working

Refer to this guide how to run gui with docker https://www.geeksforgeeks.org/running-gui-applications-on-docker-in-linux/

Ubuntu install script

First of all you need to install some dependencies:

apt-get install libgl-dev libglu1-mesa-dev freeglut3-dev zlib1g-dev cmake curl git wget autoconf automake libtool curl make g++ unzip libgtk2.0-0

Also, this script assumes that you have Anaconda installed.

You will need to manually need to install protobuff 3.5.1, as this requires sudo priviliges.

	wget https://github.com/protocolbuffers/protobuf/releases/download/v3.5.1/protobuf-all-3.5.1.zip
	unzip -o protobuf-all-3.5.1.zip
	cd protobuf-3.5.1
	./autogen.sh
	./configure
	make
	sudo make install
	sudo ldconfig
	./configure --prefix=/usr
	cd ..

(If it does not work that way, you can additionaly try pip install google protobuf)

Ok, you are ready to this. Just run ./install.sh and watch the world burn. If you don't want it to change your protobuff version, use './install.sh no-protobuff'

This will very likely take some time, depending on your machine's speed, internet connection, and a price of unsalted butter in dubai. (It takes ~20 minutes on my machine)

About this repo:

The process of installation is flawed, mainly because of the ORB_SLAM2 and its dependencies. Things that can be improved:

• minimise the size of the docker (by deleting unnecessary stuff, or removing build files, or using simpler base system than ubuntu)
• de-cluttering the process of compiling boost and python bindings (probably it should be moved to pybind)
• fixing the boost versions
• adding tests for the builds If you would like to tackle any of those, or you have any ideas for improvements, feel free to create an issue and create appropiate pull request ;)