Open VSLAM Installation(Open VSLAM 설치하기)_수정 및 추가

 

 

05.15(금) 수정사항

#1. Git Source Code를 다운로드한 후

#2. OpenVSLAM-master폴더명을 openvslam으로 변경해서 /path/to/ 복붙

#3. OpenCV 3.3.1 버전에서는 CUDDA와 충돌이 있다 그래서 OpenCV 버전은 4.3.0 최신버전을 설치

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Source Code

Open VSLAM - MASTER

git clone https://github.com/xdspacelab/openvslam

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요구사항(버전을 잘 확인하자)

• Eigen : version 3.3.0 or later.
• g2o : Please use the latest release. Tested on commit ID 9b41a4e.
• SuiteSparse : Required by g2o.
• DBoW2 : Please use the custom version of DBoW2 released in https://github.com/shinsumicco/DBoW2.
• yaml-cpp : version 0.6.0 or later.
• OpenCV : version 3.3.1 or later.

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설치는 Ubuntu 16.04와 Mac High Sierra 그 이상 버전도 가능하다

(필자는 Mac Catalina 10.15.4무려 최신 버전)

 

Ubuntu 패키지 관리 툴인 apt-get install 대신 Mac에서는 Home Brew의 패키지 관리 툴을 사용한다.

Install Home Brew

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"

 

설치가 끝났으면 이제 패키지들을 쉽게 관리할 수 있다.

이제 하나씩 설치해보자.

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Installing for mac OS

brew update

# basic dependencies
brew install pkg-config cmake git

# g2o dependencies
brew install suite-sparse

# OpenCV dependencies and OpenCV
brew install eigen
brew install ffmpeg
brew install opencv

# other dependencies
brew install yaml-cpp glog gflags

# (if you plan on using PangolinViewer)
# Pangolin dependencies
brew install glew

# (if you plan on using SocketViewer)
# Protobuf dependencies
brew install automake autoconf libtool

# Node.js
brew install node

Download, bulid and install the custom DBoW2 form source.

cd /path/to/working/dir
git clone https://github.com/shinsumicco/DBoW2.git
cd DBoW2
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4
make install

Download, build and install g2o.

cd /path/to/working/dir
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
git checkout 9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DCMAKE_CXX_FLAGS=-std=c++11 \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_UNITTESTS=OFF \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DG2O_USE_CHOLMOD=OFF \
    -DG2O_USE_CSPARSE=ON \
    -DG2O_USE_OPENGL=OFF \
    -DG2O_USE_OPENMP=ON \
    ..
make -j4
make install

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2가지 종류의 뷰어를 제공한다. PangolinViewer, SocketViewer 

Download, build and install Pangolin from source.

cd /path/to/working/dir
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout ad8b5f83222291c51b4800d5a5873b0e90a0cf81
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4
make install

Download, build and install socket.io-client-cpp from source.

cd /path/to/working/dir
git clone https://github.com/shinsumicco/socket.io-client-cpp
cd socket.io-client-cpp
git submodule init
git submodule update
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DBUILD_UNIT_TESTS=OFF \
    ..
make -j4
make install

SoketViewer을 사용한다면 Protobuf도 설치

brew install protobuf

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설치된 뷰어에 따라서 빌드를 해주면 된다.

PangolinViewer

cd /path/to/openvslam
mkdir build && cd build
cmake \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DUSE_PANGOLIN_VIEWER=ON \
    -DUSE_SOCKET_PUBLISHER=OFF \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=ON \
    ..
make -j4

SocketViewer

cd /path/to/openvslam
mkdir build && cd build
cmake \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DUSE_PANGOLIN_VIEWER=OFF \
    -DUSE_SOCKET_PUBLISHER=ON \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=ON \
    ..
make -j4

빌드 후./run_kitti_slam -h를 실행하면 성공

 

SocketViewr 서버 환경설정

$ cd /path/to/openvslam/viewer
$ ls
Dockerfile  app.js  package.json  public  views
$ npm install
added 88 packages from 60 contributors and audited 204 packages in 2.105s
found 0 vulnerabilities
$ ls
Dockerfile  app.js  node_modules  package-lock.json  package.json  public  views
$ node app.js
WebSocket: listening on *:3000
HTTP server: listening on *:3001

http://localhost:3001/

접속하면~ 정상적으로 출력된다. 

 

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