Edgeslam environment installation configuration

Since the tutorials and records of environment installation and configuration cannot be found in edgeslam's environment at present, we can only grope a little bit here.

In order to ensure that the software version does not conflict directly, this paper completely follows the environment version introduced in the github source code.

System version: Ubuntu 18 04LTS

Operating platform: ROS melody

The source code of all environment packages are packaged in: cloud disk address.
Link: https://pan.baidu.com/s/1FxtpSWrAxbvE6OFYkiRNJQ
Extraction code: e2sf
After copying this content, open Baidu online disk mobile App, which is more convenient to operate

1. Install git

2. Install cmake

3. Install gcc, g++

These can be installed directly with sudo apt get install

4. Install boost_1.65.0

1). Installation dependency

*// Renew* 
sudo apt-get update   

*// Search all the boost libraries* 
sudo apt-cache search boost 

*// Install the appropriate library*  
sudo apt-get install libboost-all-dev

2). Download and unzip
Download link: https://boostorg.jfrog.io/artifactory/main/release/1.65.1/source/

And 1 are downloaded here.65.0 Version, after decompression

get into./boost_1_65_1 route

3). Compilation and installation

//compile
sudo ./bootstrap.sh
//install
sudo ./b2 install

4). test

5. Install Pangolin

Display for visual interface

1). Installation dependency

sudo apt-get install libglew-dev libpython2.7-dev

2). Clone project

git clone https://github.com/stevenlovegrove/Pangolin.git

3). Compilation and installation

cd Pangolin 
mkdir build 
cd build 
cmake .. 
make -j 
sudo make install

If you encounter Could not find GLEW:

Build type not set (defaults to release)
-DCMAKE_BUILD_TYPE=Debug for debug
CMake Error at CMakeModules/FindGLEW.cmake:51 (MESSAGE):
  Could not find GLEW
Call Stack (most recent call first):
  src/CMakeLists.txt:174 (find_package)

terms of settlement:

 sudo apt-get install libglew-dev  
 sudo apt-get install cmake  
 sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev  

6. Install opencv3 four point two

1). Installation dependency

The dependency must be installed here, otherwise the compiled program will have problems.

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   sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg-dev libswscale-dev libtiff5-dev
   sudo apt-get install libgtk2.0-dev
   sudo apt-get install pkg-config

Download source code: https://github.com/opencv/opencv/archive/refs/tags/3.4.2.zip

After unpacking, put the folder where you like, and put it under / home here

Rename the unzipped folder as opencv3 again (this is casual, not the point)
Create a new build folder under the opencv3 folder

mkdir build
cd build
sudo cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..   
sudo make -j8  (If there is an error, try it sudo make -j)
sudo make install

You can use sudo make -j 8, sudo make -j4, and sudo make
I use sudo make -j8 here

Open / etc / LD. With gedit so. conf
Add a line / usr/local/lib to the file
Where / user/loacal is the opencv installation path, that is, the installation path specified in the makefile

sudo gedit /etc/ld.so.conf

7. Install Eigen3, an open source linear library that can perform matrix operations

sudo apt-get install libeigen3-dev

8. Install DBoW2 and g2o

DBoW2 is an improved version of DBow library, which is an open source C + + library used to index images and convert them into word expressions.
g2o is an open source C + + framework for optimizing graph based nonlinear error functions.
These two libraries are in the third-party folder of ORB-SLAM2 project. They will not be compiled separately here, but will be compiled uniformly later.

9. Install ros

For details, refer to the installation document of domestic source installation ROS.

After installation, you need to configure the environment variables.

The specific operations are as follows:

gedit ~/.bashrc

Then add on the last line

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:PATH/edgeslam/Examples/ROS

Note that the PATH is replaced with the actual edgeslam PATH during the actual installation.

10. Compile edgeslam

1. Clone project

2. Compile build sh

3. Compile build_ros.sh

git clone https://github.com/droneslab/edgeslam.git edgeslam
cd edgeslam
chmod +x build.sh
chmod +x build_ros.sh
./build.sh  
./build_ros.sh