okvis:打开基于关键帧的视觉惯性SLAM
1.安装以下依赖项
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sudo apt-get install cmake
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sudo apt-get install libgoogle-glog-dev
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sudo apt-get install libatlas-base-dev
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sudo apt-get install libeigen3-dev
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sudo apt-get install libsuitesparse-dev
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sudo apt-get install libboost-dev libboost-filesystem-dev
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sudo apt-get install libopencv-dev
2.下载解压文档
libvisensor
git clone https://github.com/ethz-asl/libvisensor.git cd libvisensor ./install_libvisensor.sh
3.下载okvis
wget https://www.doc.ic.ac.uk/~sleutene/software/okvis-1.1.3.zip
unzip okvis-1.1.3.zip && rm okvis-1.1.3.zip
或者 git clone git@github.com:ethz-asl/okvis.git
或者 git clone https://github.com/ethz-asl/okvis.git
4.建立项目(是在okvis目录下) mkdir build && cd build cmake -DCMAKE_BUILD_TYPE=Release .. make -j8 (提示错误1 ceres-solver链接无法连接,导致安装不成功,将安装包CMklist.txt的151行链接修改为: GIT_REPOSITORY https://github.com/ceres-solver/ceres-solver
提示错误
2 URL "https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.3.zip"无法下载,之后产生错误,直接将https改为http)
5.运行演示应用程序make install
下载数据集(链接: https://pan.baidu.com/s/1i4W2is1 密码: 269k),注意是压缩包格式的那个,以下载的是MH_01_easy.zip./okvis_app_synchronous path/to/okvis/config/config_fpga_p2_euroc.yaml path/to/MH_01_easy/mav0
(根据自己文档储存路径来写,切勿直接粘贴复制)