Release Notes (The current source is out-of-date, and is not maintained. Contact me if you need any details.).
- MATLAB and C++ Implementations of View-Graph SLAM.
- This is a robust mixture between Nonlinear Least-Squares Estimation and Multiple-Views Pose-Graph SLAM. This implementation is Applicable for both, stereo and monocular settings.
- If you are planning on using this implementation, please cite our paper: T. Abuhashim and L. Natale, "Robustness in view-graph SLAM," 2016 19th International Conference on Information Fusion (FUSION), Heidelberg, 2016, pp. 942-949. URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7527987&isnumber=7527857
- Copyright (C) 2016 iCub Facility - Istituto Italiano di Tecnologia
- Authors: Tariq Abuhashim, Nicolo' Genesio
- Emails: t.abuhashim@gmail.com, nicogene@hotmail.it
- Last Updated: Nov 2016
- Acknowledgement: This research has received funding from the European Union’s Seventh Framework Programme for research, technological development and demonstration under grant agreement No. 611909 (KoroiBot).
- License: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
This implementation was tested on Ubuntu Trusty Tahr (14.04.5 LTS) and Kylin (16.04.1 LTS). Install all required tools:
sudo apt-get install git g++ cmake cmake-curses-gui
Cmake 3.2.2 or higher is required, so:
sudo apt-get install software-properties-common
sudo add-apt-repository ppa:george-edison55/cmake-3.x
sudo apt-get update
sudo apt-get upgrade
Then, check
cmake --version
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git
mkdir opencv_build
cd opencv_build
cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules -DCMAKE_INSTALL_PREFIX=/install/path ../opencv
make -j5
To install:
sudo make install
If not installing, then update the environmental variable:
OPENCV_DIR=/path/to/your/opencv_build
To check the currently installed version of opencv:
pkg-config --modversion opencv
#####To download the most recent version:
#####git clone https://github.com/jluttine/suitesparse.git
#####However, our implementation of Takahashi's inverse (spinv) needs UFconfig, this is found in SuiteSparse-3.7.1.tar.gz. Also, need to install lapack, blas, openblas, metis, and parmetis (not really needed at the moment).
sudo apt-get install liblapack-dev libblas-dev libopenblas-dev
#####sudo apt-get install libmetis-dev libparmetis-dev
cd SuiteSparse
#####Download metis-4.0.3, and rename the folder to matis-4.0. In the Makefile.in, update the following:
#####CC = gcc
#####OPTFLAGS = -O3
#####COPTIONS = -fPIC
Download SuiteSparse. To compile without metis, edit like 293 in SuiteSparse_config/SuiteSparse_config.mk
CHOLMOD_CONFIG ?= $(GPU_CONFIG) -DNPARTITION
Then;
make
sudo make install INSTALL=yourprefix
Then update the environmental variable:
SUITESPARSE_DIR=path/to/your/SuiteSparse/install
Download and compile Eigen.
hg clone https://bitbucket.org/eigen/eigen/
cd eigen
mkdir build
cd build
cmake ../ -DCMAKE_INSTALL_PREFIX=yourprefix
sudo make install
Then update the environmental variable:
EIGEN_INCLUDE_DIR=path/to/your/eigen/build/include
Install using precompiled binaries,
sudo apt-get install libboost-all-dev
If you don't like to install boost system-wise, download source from Boost, then follow instructions to compile.
cd path/to/boost
mkdir build
./bootstrap.sh PREFIX=path/to/install
./b2
./b2 install --prefix=path/to/install
Then update the environmental variable:
EIGEN_INCLUDE_DIR=path/to/your/eigen/build/include
Our implementation uses YARP to replay data, implement multi-threading, and locate different resources. I personally install it from source. Also, if you are a fan of iCub, you will find very useful tools and simulations. To run iCubSIM, you would need to install SDL, GLUT, ODE, IPOPT, and gfortran:
sudo apt-get install libsdl1.2-dev freeglut3 freeglut3-dev libode-dev coinor-libipopt-dev libgsl2 libgsl-dev
sudo apt-get update && sudo apt-get install gfortran -y
Additionally, for Ubuntu 16.04.01
sudo apt-get install libace-dev libghc-glut-dev
In addition to the installation instruction, if you like to install ICUB_SIM, then set:
ICUB_SHARED_LIBRARY = ON
Download VLFeat 0.9.20 binary package
run <VLFEATROOT>/toolbox/vl_setup
If compiling without MATLAB, in the makefile, comment out the line
#include make/matlab.mak. Then, "make".
To compile our code with VLFeat, update the environmental variable:
VLFEAT_ROOT=/path/to/vlfeat/directory
After installing Matlab, update the environmental variable:
MATLAB_ROOT=path/to/your/MATLAB/RXXXXx
If you are planning on using our mex wrappers, you need to download and install MATLAB.
Update all the related paths in compile_PwgOptimiser.m and compile_GraphOptimiser.m, then;
run compile_PwgOptimiser;
run compile_GraphOptimiser;
This will compile and test against the MATLAB code (if this isn't needed, then comment out this comparison part).
The MATLAB code isn't yet available, but we will upload the code soon. In order to run our MATLAB implementation, you would need to install GP-stuff (we use their sparse inverse, if you have an alternative solution, then you may skip this step):
git clone https://github.com/gpstuff-dev/gpstuff
In MATLAB, navigate to the folder, then
run matlab_install('SuiteSparseOn')
There were two fixes. First, in matlab_install.m, replace cd SuiteSparse with cd /your/path/to/suitesparse. Second, in SuiteSparse_install.m, replace function SuiteSparse_install(input) with function paths = SuiteSparse_install(input).
You would also need to install mexopencv
git clone https://github.com/kyamagu/mexopencv.git
cd mexopencv
DIR_MATLAB=/usr/local/MATLAB/R2016b
make all MATLABDIR=$DIR_MATLAB
One example that runs on Ubuntu is Eclipse. Notice that this requires to have JRE, and optionally, JDK downloaded.
sudo apt-get update
sudo apt-get install eclipse
sudo apt-get install eclipse eclipse-cdt
sudo apt-get install doxygen doxygen-gui
run doxywizard or create a configuration file using doxygen -g /doxygen/doxygen.cfg. To generate an index.html file in the main code folder, the easiest solution is probably to create a symbolic link or shortcut to the index.html file generated by doxygen, rather than trying to get doxygen to change the layout of it's output files. This symlink/shortcut can then be placed in the root directory of your project (or elsewhere), pointing to doxygen/html/index.html, and named anything you like to make it obvious to your users what it is.
ln -s doxygen/html/index.html index.html