Semi-Direct Visual Localization (SDVL)

1. License

This code is released under a GPLv3 license.

For commercial purposes contact to: eperdices (at) gsyc (dot) es.

2. Dependencies

The following dependencies are necessary for running SDVL in debian-based distributions. Installation has been tested in Ubuntu 16.04 and Debian 9.

Install all dependencies (except Pangolin and g2o) using this command:

sudo apt-get install cmake libeigen3-dev libopencv-dev freeglut3-dev libglew-dev

2.1 CMake

Tool designed to build software.

sudo apt-get install cmake

2.2 Eigen

Library for linear algebra, used for matrices and vectors calculations.

sudo apt-get install libeigen3-dev 

2.3 OpenCV

Computer vision library employed to manipulate images.

sudo apt-get install libopencv-dev

2.4 Pangolin

Library for managing OpenGL display, employed for visualization and user interface.

First, OpenGL dependencies must be installed:

sudo apt-get install freeglut3-dev libglew-dev

Then, download from github and install using these commands:

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

2.5 G2o

C++ framework for optimizing graph-based nonlinear error functions. It has been used to optimize map with Bundle Adjustment.

This library is included in ''extra'' folder with some modifications made by ORBSLAM authors.

3. Install

Download from github

git clone https://github.com/JdeRobot/slam-SDVL.git

G2o compilation

Install g2o dependency from ''extra'' folder:

cd slam-SDVL/extra/g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

SDVL compilation

Run these commands:

cd slam-SDVL
mkdir build
cd build
cmake ..
make

Usage

Change configuration parameters in config.cfg. Some examples are provided in '''config'' folder. Then, just run:

./SDVL

4. Coding Style

We use Google C++ Style Guide:

https://google.github.io/styleguide/cppguide.html