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BA_exercise

A exercise of BA, using g2o, ceres and eigen.

感谢六哥、黄志明、付堉家的支持。

Reference

Ref: Bundle Adjustment原理及应用

Clone

git clone --recurse-submodules -j8 https://github.com/shanpenghui/BA_exercise

Third Parties

The version listed is currently used. Check current version by the command in brackets.

  • Cmake 3.16.3 ++ (cmake --version)
  • Eigen 3.3.7 ++ (pkg-config --modversion eigen3)
  • OpenCV 4.2.0 ++ (pkg-config --modversion opencv4)
  • g2o (Sat Feb 27 18:55:01 2021 ++)
  • ceres (Wed Feb 17 18:38:29 2021 ++)
  • glog (Mon Mar 1 12:59:21 2021 ++)

Install Third Parties

You should install these libraries in order.

1.Eigen

sudo apt update && sudo apt-get install libeigen3-dev
or
git clone https://gitlab.com/libeigen/eigen.git
cd eigen && mkdir build && cd build && git checkout 3.3.7 && cmake .. && make -j32 && sudo make install

2.OpenCV

Ref: https://docs.opencv.org/master/d0/d3d/tutorial_general_install.html

sudo apt update && sudo apt-get install libeigen3-dev
or
git clone https://github.com/opencv/opencv
git -C opencv checkout 4.2.0
git clone https://github.com/opencv/opencv_contrib
git -C opencv_contrib checkout 4.2.0
git clone https://github.com/opencv/opencv_extra
git -C opencv_extra checkout 4.2.0
cmake ..
make -j32
sudo make install

3.g2o

Ref: https://github.com/RainerKuemmerle/g2o

Remember to change the DCMAKE_INSTALL_PREFIX path!!!

sudo apt update && sudo apt install libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
git clone https://github.com/RainerKuemmerle/g2o.git && cd g2o && mkdir install && mkdir build && cd build && git checkout master
cmake .. && make -j32 && sudo make install
or
cmake .. -DCMAKE_INSTALL_PREFIX="/home/shenz/Documents/vslam/vslam_exercise/ThirdParties/g2o/install" && make -j32 && make install

4.ceres

Ref: http://ceres-solver.org/installation.html

Remember to change the DCMAKE_INSTALL_PREFIX path!!!

# CMake google-glog gflags BLAS LAPACK Eigen3 SuiteSparse(optional) CXSparse(optional)
sudo apt update && sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
git clone https://ceres-solver.googlesource.com/ceres-solver && cd ceres-solver && mkdir build && cd build && git checkout master
cmake .. && make -j32 && sudo make install
or
cmake .. -DCMAKE_INSTALL_PREFIX="/home/shenz/Documents/vslam/vslam_exercise/ThirdParties/ceres-solver" && make -j4 && make install

5.googlelog

Ref: https://github.com/google/glog.git

git clone https://github.com/google/glog.git
cd glog && mkdir build && cd build && git checkout master && cmake .. && make -j32 && sudo make install

Usage

mkdir build && cd build && cmake .. && make -j32
cd ceres && ./BA_ceres
or others such as:
cd g2o && ./BA_g2o

输出

g2o

image

ceres

image

eigen

image

备注

当前版本是没有优化point pose的，即只优化位姿