This work is based on DM-VIO.

git clone https://github.com/thisparticle/RGBD-DM-VIO.git

The following instructions have been tested with Ubuntu 20.04.

Required, install with

sudo apt-get install cmake libsuitesparse-dev libeigen3-dev libboost-all-dev libyaml-cpp-dev

On MacOS we recommend Homebrew to install the dependencies. It might be necessary to install [email protected] instead of the newest boost, in order for the used GTSAM version to work.

Build from source with

sudo apt install libtbb-dev
git clone https://github.com/borglab/gtsam.git
cd gtsam
git checkout 4.2a6          # not strictly necessary but this is the version tested with.
mkdir build && cd build
cmake -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
make -j
sudo make install

(Note: It seems like the keyframe operations are 2-3% slower with the new GTSAM version. To reproduce the realtime paper results you should use commit a738529af9754c7a085903f90ae8559bbaa82e75 of GTSAM).

Used to read, write and display images. Install with

sudo apt-get install libopencv-dev

Like for DSO, this is used for the GUI. You should install v0.6. Install from https://github.com/stevenlovegrove/Pangolin

sudo apt install libgl1-mesa-dev libglew-dev pkg-config libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout v0.6
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

This is necessary for the live demo for Realsense cameras. See doc/RealsenseLiveVersion.md for details

For running tests, install with git submodule update --init.

Used to read datasets with images as .zip. See src/dso/README.md for instructions.

After cloning, run git submodule update --init to include this.

catkin_make d2vio -j10

This compiles dmvio_dataset to run DM-VIO on datasets (needs both OpenCV and Pangolin installed). It also compiles the library libdmvio.a, which other projects can link to.

The project is based on DM-VIO. In case of problems with compilation we recommend trying to compile https://github.com/lukasvst/dm-vio first and seeing if it works.

roslaunch d2vio d455.launch