gary-robotics / RGBD-DM-VIO

This is the RGB-D version of DM-VIO.

Depth-Enhanced Direct
Visual-Inertial Odometry

This work is based on DM-VIO.

1. Installation

git clone https://github.com/thisparticle/RGBD-DM-VIO.git

The following instructions have been tested with Ubuntu 20.04.

1.1 Required Dependencies

Suitesparse, Eigen3, Boost, yaml-cpp (required).

Required, install with

sudo apt-get install cmake libsuitesparse-dev libeigen3-dev libboost-all-dev libyaml-cpp-dev

On MacOS we recommend Homebrew to install the dependencies. It might be necessary to install boost@1.60 instead of the newest boost, in order for the used GTSAM version to work.

GTSAM (required).

Build from source with

sudo apt install libtbb-dev
git clone https://github.com/borglab/gtsam.git
cd gtsam
git checkout 4.2a6          # not strictly necessary but this is the version tested with.
mkdir build && cd build
cmake -DGTSAM_POSE3_EXPMAP=ON -DGTSAM_ROT3_EXPMAP=ON -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
make -j
sudo make install

(Note: It seems like the keyframe operations are 2-3% slower with the new GTSAM version. To reproduce the realtime paper results you should use commit a738529af9754c7a085903f90ae8559bbaa82e75 of GTSAM).

OpenCV.

Used to read, write and display images. Install with

sudo apt-get install libopencv-dev

Pangolin.

Like for DSO, this is used for the GUI. You should install v0.6. Install from https://github.com/stevenlovegrove/Pangolin

sudo apt install libgl1-mesa-dev libglew-dev pkg-config libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout v0.6
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

1.2 Recommended Dependencies

Librealsense

This is necessary for the live demo for Realsense cameras. See doc/RealsenseLiveVersion.md for details

GTest (optional).

For running tests, install with git submodule update --init.

ziplib (optional).

Used to read datasets with images as .zip. See src/dso/README.md for instructions.

sse2neon (required for ARM builds).

After cloning, run git submodule update --init to include this.

1.3 Build

catkin_make d2vio -j10

This compiles dmvio_dataset to run DM-VIO on datasets (needs both OpenCV and Pangolin installed). It also compiles the library libdmvio.a, which other projects can link to.

Trouble-Shooting

The project is based on DM-VIO. In case of problems with compilation we recommend trying to compile https://github.com/lukasvst/dm-vio first and seeing if it works.

2 Running

roslaunch d2vio d455.launch