Installation: SLAM - uiuc-iml/IML-Perception-Box GitHub Wiki

Table of Contents

• Prerequisites
• Installation

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Ver 1

• 1. Install Dependencies
• 2. Install Required Libraries
• 3. Build and Install Stella-VSLAM
• 4. Build and Install Pangolin Viewer
• 5. Build Perception Box

Ver 2

• Bash Script Installation

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Prerequisites

• Operating System: Ubuntu 18.04 or 20.04 (for NVIDIA Jetson)
• Compiler: GCC with C++11 support
• CMake: Version 3.5 or higher
• Git

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Installation

1. Install Dependencies

Open a terminal and execute the following commands:

sudo apt update
sudo apt upgrade -y --no-install-recommends

# Basic dependencies
sudo apt install -y build-essential pkg-config cmake git wget curl unzip

# g2o dependencies
sudo apt install -y libatlas-base-dev libsuitesparse-dev

# OpenCV dependencies
sudo apt install -y libgtk-3-dev ffmpeg libavcodec-dev libavformat-dev \
libavutil-dev libswscale-dev libavresample-dev libtbb-dev

# Eigen dependencies
sudo apt install -y gfortran

# backward-cpp dependencies (optional but recommended)
sudo apt install -y binutils-dev

# Other dependencies
sudo apt install -y libyaml-cpp-dev libgflags-dev sqlite3 libsqlite3-dev

# Pangolin dependencies
sudo apt install -y libglew-dev

2. Install Required Libraries

Install Eigen

cd ~/Downloads
wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.bz2
tar xf eigen-3.3.7.tar.bz2
cd eigen-3.3.7
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

Install OpenCV

cd ~/Downloads
# Download OpenCV source
wget -q https://github.com/opencv/opencv/archive/4.5.5.zip
unzip -q 4.5.5.zip
cd opencv-4.5.5
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DBUILD_DOCS=OFF \
      -DBUILD_EXAMPLES=OFF \
      -DBUILD_TESTS=OFF \
      -DBUILD_PERF_TESTS=OFF \
      -DBUILD_opencv_python_bindings_generator=OFF \
      -DWITH_TBB=ON \
      -DWITH_OPENMP=ON \
      -DWITH_FFMPEG=ON \
      -DWITH_GTK=ON \
      -DWITH_V4L=ON \
      -DWITH_OPENGL=ON \
      -DWITH_GSTREAMER=ON \
      -DENABLE_FAST_MATH=ON \
      -DWITH_CUDA=ON \
      ..
make -j$(nproc)
sudo make install

Install FBoW

cd ~/Downloads
git clone https://github.com/stella-cv/FBoW.git
cd FBoW
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

Install g2o

cd ~/Downloads
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
git checkout 20230223_git
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DBUILD_SHARED_LIBS=ON \
      -DBUILD_UNITTESTS=OFF \
      -DG2O_USE_CHOLMOD=OFF \
      -DG2O_USE_CSPARSE=ON \
      -DG2O_USE_OPENGL=OFF \
      -DG2O_USE_OPENMP=OFF \
      -DG2O_BUILD_APPS=OFF \
      -DG2O_BUILD_EXAMPLES=OFF \
      -DG2O_BUILD_LINKED_APPS=OFF \
      ..
make -j$(nproc)
sudo make install

Install backward-cpp (Optional but Recommended)

cd ~/Downloads
git clone https://github.com/bombela/backward-cpp.git
cd backward-cpp
git checkout 5ffb2c879ebdbea3bdb8477c671e32b1c984beaa
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

Install Pangolin

cd ~/Downloads
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout eab3d3449a33a042b1ee7225e1b8b593b1b21e3e
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DBUILD_EXAMPLES=OFF \
      -DBUILD_PANGOLIN_PYTHON=OFF \
      ..
make -j$(nproc)
sudo make install

3. Build and Install Stella-VSLAM

mkdir -p ~/stella_ws/src
cd ~/stella_ws/src
git clone --recursive https://github.com/stella-cv/stella_vslam.git
cd stella_vslam
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j$(nproc)
sudo make install

4. Build and Install Pangolin Viewer

cd ~/stella_ws/src
git clone --recursive https://github.com/stella-cv/pangolin_viewer.git
cd pangolin_viewer
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j$(nproc)
sudo make install

5. Build Perception Box

git clone https://github.com/uiuc-iml/Perception-Box.git
cd Perception-Box
mkdir build
cd build
cmake ..

Download the Vocab file from: Vocab file

Open3D: Jetson fork

Bash Installation

cd ~/Downloads
git clone "https://github.com/uiuc-iml/Perception-Box.git"
chmod +x install_stella_vslam.sh
./install_stella_vslam.sh