Slambook2 Note

code of 14 lectures on visual SLAM 2nd built on Windows 10 using WSL(Ubuntu 16.04)

Table of Content

• Thirdparty
  • CMake
  • Eigen
  • Pangolin
  • fmt
  • Sophus
  • OpenCV
  • Boost
  • g2o
  • gflags
  • glog
  • ceres-solver
  • DBoW3
  • vtk
  • pcl
  • octomap
• DEMO
  • visualizeGeometry
  • trajectoryError
  • stereoVision
  • joinMap
  • curveFitting
  • orb_cv
  • orb_self
  • optical_flow
  • direct_method
  • bundle_adjustment
  • myslam
• IDE
• References

Thirdparty

若想安裝CMake以外的第三方函示庫(含Python的)可執行build.sh來安裝

sh build.sh

CMake

Ubuntu 16.0 預設Cmake版本是3.5，但版本過舊，所以使用Cmake編譯一些第三方函式庫時會有問題，因此建議使用以下指令來更新到3.16以上

sudo apt-get install build-essential
wget http://www.cmake.org/files/v3.16/cmake-3.16.0.tar.gz
tar xf cmake-3.16.0.tar.gz
cd cmake-3.16.0
./configure
cmake .
make
sudo make install

接著，為了解決路徑問題，所以要加到環境變數

sudo gedit ~/.bashrc

在.bashrc中加入以下兩行

export PATH=/usr/local/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

再來更新環境變數

source ~/.bashrc

最後使用以下指令即可看到新版的Cmake

cmake --version

Eigen

輸入此指令安裝

wget https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.zip
unzip eigen-3.3.9.zip
cd eigen-3.3.9
mkdir build && cd build
cmake ..
make
sudo make install

Pangolin

先用此指令安裝Glew

sudo apt-get install libglew-dev

再照著以下步驟安裝

git clone https://github.com/zzx2GH/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
cmake --build .

由於新版的Pangolin有些問題，所以這裡安裝舊版

fmt

照以下步驟安裝

git clone  https://github.com/fmtlib/fmt.git
cd fmt
mkdir build && cd build
cmake ..
make
sudo make install

Sophus

照以下步驟安裝

git clone http://github.com/strasdat/Sophus.git
cd Sophus
mkdir build && cd build
cmake ..
sudo make install

如果用到模板類的Sophus需要進行以下更改

SE3需要#include<sophus/se3.h>

SO3需要#include<sophus/so3.h>

SE3d與SO3d改成用模板類別，因此改成SE3與SO3

OpenCV

安裝3.4.3，照以下步驟

sudo apt-get install build-essential cmake
wget https://github.com/opencv/opencv/archive/3.4.3.zip
unzip 3.4.3.zip
cd opencv-3.4.3
mkdir -p build && cd build
cmake ..
make
sudo make install

Boost

使用此指令安裝

sudo apt-get install libboost-all-dev

g2o

先安裝依賴庫

sudo apt-get install libsuitesparse-dev

使用

qmake -v

確認QT版本是否為5，這樣使用g2o_viewer才不會有問題

再照以下步驟安裝

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake ..
make
sudo make install

gflags

照以下步驟安裝

git clone https://github.com/gflags/gflags
cd gflags
mkdir build && cd build
cmake ..
make
sudo make install

glog

照以下步驟安裝

git clone https://github.com/google/glog
cd glog
mkdir build && cd build
cmake ..
make
sudo make install

ceres-solver

照以下步驟安裝

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build && cd build
cmake ..
make
sudo make install

DBow3

照以下步驟安裝

git clone https://github.com/rmsalinas/DBow3.git
cd DBow3
mkdir build && cd build
cmake ..
make
sudo make install

vtk

照以下步驟安裝

wget https://www.vtk.org/files/release/8.2/VTK-8.2.0.zip
unzip VTK-8.2.0.zip
cd VTK-8.2.0
mkdir -p build && cd build
cmake ..
make
sudo make install

pcl

照以下步驟安裝

wget https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.9.1.zip
unzip pcl-1.9.1.zip
cd pcl-pcl-1.9.1
mkdir -p build && cd build
cmake ..
make
sudo make install

octomap

照以下步驟安裝

git clone https://github.com/OctoMap/octomap.git
cd octomap
mkdir build && cd build
cmake ..
make
sudo make install

DEMO

visualizeGeometry

trajectoryError

stereoVision

joinMap

curveFitting

Gauss Newton	ceres-solver	g2o

orb_cv

orb_self

optical_flow

direct_method

bundle_adjustment

myslam

IDE

Visual studio code

• Visual Studio Code Extensions
  • C/C++ : Link
  • Remote - WSL : Link
  • Python : Link
  • CMake : Link
  • CMake Tools : Link
  • vscode-3d-preview : Link

References

• github : https://github.com/gaoxiang12/slambook2
• SLAM視覺十四講：雙倍內容強化版 (ISBN：9789865501044)