cgnerds / SlamAR

An open source, SLAM based augmented reality software.

SlamAR -An open source, SLAM based augmented reality software.

Linux:

Ubuntu 14.04

Dependencies

• sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev libtbb-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev libeigen3-dev libsuitesparse-dev libboost-all-dev

Sophus

• git clone https://github.com/strasdat/Sophus
• cd Sophus
• git checkout a621ff
• mkdir build
• cd build
• cmake ..
• make -j4

OpenCV

• git clone https://github.com/opencv/opencv.git
• cd opencv
• mkdir build
• cd build
• cmake ..
• make -j4
• sudo make -j4 install

g2o

• git clone https://github.com/RainerKuemmerle/g2o.git
• cd g2o
• mkdir build
• cd build
• cmake ..
• make -j4
• sudo make -j4 install

DBow3

• git clone https://github.com/rmsalinas/DBow3.git
• cd DBow3
• mkdir build
• cd build
• cmake ..
• make -j4
• sudo make -j4 install

TUM Dataset

1. Download a RGB-D sequence from TUM, like fr1/xyz and change the parameter dataset_dir in the config/default.yaml file accordingly.
2. Associate RGB images and depth images using the python script associate.py. We already provide associations for some of the sequences in examples/. You can generate your own associations file executing:

• python associate.py rgb.txt depth.txt > associate.txt