Local EKF-SLAM with global map optimization
Tested in: Ubuntu 18.04
Dependencies:
1.- Armadillo C++ library (tested with version 9.900.2), http://arma.sourceforge.net/
2.- OpenCV (tested with version 4.5), https://opencv.org/
3.- Ceres Solver (tested with version 2.0) http://ceres-solver.org/
4.- Python (tested with version 3.6)
Another dependencies (already included by source code)
1.- anms (from paper: Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution)
2.- matplotlib-cpp https://github.com/lava/matplotlib-cpp
//---------------------------------------------------------------------------------------
For compiling:
1.- Configure Makefile for dependencies
2.- run:
- make
For fresh compiling: - make clean - make
//----------------------------------------------------------------------------------------
To set openplas to run in a single thread, configure the environment variable
-export OPENBLAS_NUM_THREADS=1
To set OPENCV to run in a single thread (Avoid OpenCL initialization ) configure the environment variable,
-export OPENCV_OPENCL_DEVICE=disabled