I hope you can lean slam step by step, you will can learn online LTSLAM documents tutorial
You can learn slam knowledge by 哔哩哔哩 bilibili . This video website has a detailed explanation of the code and the corresponding SLAM technology principle. Let's start a happy journey. enjoy....
project directory:
- xlsam
- xlsam_ros
download LTSLAM source:
git clone https://github.com/quanduyong/LTSLAM.git
-
安装Sphinx
pip install -U sphinx
-
安装主题
pip install sphinx_rtd_theme
-
安装markdown插件
pip install recommonmark pip install sphinx_markdown_tables
(推荐)我已经提供了第三方库源码文件3rdparty目录下,执行以下命令安装,不然会出现版本不匹配问题:
mkdir build && cd build
cmake ..
make -j6
sudo make install
(不推荐)如果你想自己源码安装第三方库请使用以下步骤:
-
安装Eigen
git clone https://gitlab.com/libeigen/eigen.git cd eigen git checkout 3.3.8 mkdir build && cd build cmake .. make -j6 sudo make install
-
安装Sophus
git clone https://github.com/strasdat/Sophus.git cd Sophus mkdir build && cd build cmake .. make -j6 sudo make install
-
安装abseil
在abseil项目的CMakeLists.txt的project(absl LANGUAGES CXX) 下添加以下命令:
add_compile_options(-fPIC)
git clone https://github.com/abseil/abseil-cpp.git cd abseil-cpp mkdir build && cd build cmake .. make -j6 sudo make install
-
安装 DBow3
git clone https://github.com/rmsalinas/DBow3.git cd abseil-cpp mkdir build && cd build cmake .. make -j6 sudo make install
-
安装googletest
git clone https://github.com/google/googletest.git cd googletest mkdir build && cd build cmake .. make -j6 sudo make install
-
安装g2o
git clone https://github.com/rmsalinas/DBow3.git cd abseil-cpp git checkout 9b41a4ea mkdir build && cd build cmake .. make -j6 sudo make install
-
安装opencv & opencv_contrib (4.5-x)
git clone https://github.com/opencv/opencv.git git clone https://github.com/opencv/opencv_contrib.git cd opencv mkdir build && cd build cmake-gui .. # 选择extra module opencv_contrib make -j6 sudo make install
cd LTSLAM
mkdir build
cd build
cmake ..
make -j6
在工程的build/bin目录中,你可以看到对应的每个可执行二进制文件
Let ‘s run xslam.opencv.KLT_test shell command
# KLT 光流跟踪算法
./xslam.opencv.KLT_test
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