gh279760559 / pyslam

pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.

How to install:

• create env 3.6.9
• go to the env:

  pip install -r requirements.txt
  ./install_all.sh
  pip install pybind11
  

note: if git clone with no --recursive then need to run ./install_all.sh one time to download the necessary repo orbslam2, pangolin and g2o. It is highly possible to have some error messages then refer to following.

note: if something wrong with the pybind11 said cannot find python.h

Solution:

• delete the build/bin folders in each third party folders
• orbslam2_features: add find_package(PythonInterp 3.6 REQUIRED) find_package(PythonLibs 3.6 REQUIRED) to thirdparty/orbslam2_features/pybind11/CMakeLists.txt at line 28-29
• pangolin: add find_package(PythonInterp 3.6 REQUIRED) find_package(PythonLibs 3.6 REQUIRED) to thirdparty/pangolin/CMakeLists.txt at line 22-23
• g2o: add find_package(PythonInterp 3.6 REQUIRED) find_package(PythonLibs 3.6 REQUIRED) to thirdparty/g2opy/EXTERNAL/pybind11/CMakeLists.txt at line 28-29, also to thirdparty/g2opy/EXTERNAL/CMakeLists.txt top line. For some reasons, the file thirdparty/g2opy/python/CMakeLists.txt is changed automatically. Just undo everything back like following

  include_directories(${PROJECT_SOURCE_DIR})
  
  include_directories(${EIGEN3_INCLUDE_DIR})
  include_directories(${CHOLMOD_INCLUDE_DIR})
  include_directories(${CSPARSE_INCLUDE_DIR})
  
  
  # pybind11 (version 2.2.1)
  LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/EXTERNAL/pybind11/tools)
  include_directories(${PROJECT_SOURCE_DIR}/EXTERNAL/pybind11/include)
  include(pybind11Tools)
  
  
  pybind11_add_module(g2o g2o.cpp)
  target_link_libraries(g2o PRIVATE 
      core
      solver_cholmod
      solver_csparse
      solver_eigen
      solver_dense
      solver_pcg
      solver_slam2d_linear
      solver_structure_only
      types_data
      types_icp
      types_sba
      types_sclam2d
      types_sim3
      types_slam2d
      types_slam2d_addons
      types_slam3d
      types_slam3d_addons
      contrib
  )
  
  

run main_vo.py or main_slam.py

More old documents refer to README-old