The source code can be viewed from this GitHub repository.
OpenVSLAM requires a C++11-compliant compiler. It relies on several open-source libraries as shown below.
Requirements for OpenVSLAM
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.
Install the dependencies via apt.
sudo apt update -y
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
sudo apt install -y ffmpeg
sudo apt install -y libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev
# eigen dependencies
sudo apt install -y gfortran
# other dependencies
sudo apt install -y libyaml-cpp-dev libgoogle-glog-dev libgflags-dev
# (if you plan on using PangolinViewer)
# Pangolin dependencies
sudo apt install -y libglew-dev
# (if you plan on using SocketViewer)
# Protobuf dependencies
sudo apt install -y autogen autoconf libtool
# Node.js
curl -sL https://deb.nodesource.com/setup_6.x | sudo -E bash -
sudo apt install -y nodejs
Note: If a shell script fails because of permission issues try running commands within the script yourself and specifically
run sudo make install instead of make install at the end
Install Eigen
cd /path/to/openvslam/libraries/eigen/eigen-eigen-5a0156e40feb/
source /path/to/openvslam/Eigen.sh
Build and install OpenCV
cd /path/to/openvslam/libraries/open_cv/opencv-3.4.0/
source /path/to/openvslam/OpenCV_install.sh
Build and install the custom DBoW2
cd /path/to/openvslam/libraries/DBoW2/
source /path/to/openvslam/DBoW2_install.sh
Build and install g2o
cd /path/to/openvslam/libraries/g2o/
source /path/to/openvslam/g2o_install.sh
Build and install Pangolin
cd /path/to/openvslam/libraries/Pangolin/
source /path/to/openvslam/Pangolin_install.sh
If you use Ubuntu 18.04 (or later), Protobuf 3.x can be installed via apt or brew.
sudo apt install -y libprotobuf-dev protobuf-compiler
Otherwise, please download, build and install Protobuf from source using the below command.
source /path/to/openvslam/Protobuf_install.sh
cd /path/to/openvslam
source building.sh
Download the zip file containing the data from OpenVSLAM Data.zip and place the individual folders for NEU data and KITTI data in /openvslam/build/ directory of the package created after after building it.
cd /path/to/openvslam/build/
FILE_ID="1wUPb328th8bUqhOk-i8xllt5mgRW4n84"
curl -sc /tmp/cookie "https://drive.google.com/uc?export=download&id=${FILE_ID}" > /dev/null
CODE="$(awk '/_warning_/ {print $NF}' /tmp/cookie)"
curl -sLb /tmp/cookie "https://drive.google.com/uc?export=download&confirm=${CODE}&id=${FILE_ID}" -o orb_vocab.zip
unzip orb_vocab.zip
cd /path/to/openvslam/build/
# run tracking and mapping
./run_image_slam -v ./orb_vocab/orb_vocab.dbow2 -i ./kitti_2_bag/images/ -c ./kitti_2_bag/config.yaml --frame-skip 1 --no-sleep --map-db map_kitti.msg
# click the [Terminate] button to close the viewer
# you can find map.msg in the current directory
# run localization
./run_image_localization -v ./orb_vocab/orb_vocab.dbow2 -i ./kitti_2_bag/images/ -c ./kitti_2_bag/config.yaml --frame-skip 1 --no-sleep --map-db map_kitti.msg
cd /path/to/openvslam/build/
# run tracking and mapping
./run_video_slam -v ./orb_vocab/orb_vocab.dbow2 -m ./neu_data_edited/output.mp4 -c ./neu_data_edited/config.yaml --frame-skip 1 --no-sleep --map-db map_neu.msg
# click the [Reset] button if track of features is lost to try to get new points
# click the [Terminate] button to close the viewer
# you can find map.msg in the current directory
# run localization
./run_video_localization -v ./orb_vocab/orb_vocab.dbow2 -m ./neu_data_edited/output.mp4 -c ./neu_data_edited/config.yaml --frame-skip 1 --no-sleep --map-db map_neu.msg
Please see Installation chapter in the documentation if any issues are necountered with the above steps.