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