hu-minghao / LTSLAM

lean slam step by step

LTSLAM

1 Introduction

I hope you can lean slam step by step, you will can learn online LTSLAM documents tutorial

You can learn slam knowledge by 哔哩哔哩 bilibili . This video website has a detailed explanation of the code and the corresponding SLAM technology principle. Let's start a happy journey. enjoy....

XSLAM is an open source C++ demo for learn vision slam and lidar slam. Through open source engineering, we can learn the following knowledge content:

• C++ tutorial
• CMake tutorial
• Eigen tutorial
• OpenCV tutorial
• Quaternions tutorial
• G2O tutorial
• Ceres Solver tutorial
• Kalman Filter tutorial
• VINS Mono( VINS Project) tutorial
• MSCKF-VIO( MSCKF Project) tutorial

1.1 Project directory:

• xlsam
• xlsam_ros
  • slam2d (2D lidar SLAM)
  • vins-mono (VSLAM)

1.2 Download LTSLAM source:

git clone https://github.com/quanduyong/LTSLAM.git

2 Install dependency

2.1 Generate study documents

主要目的实现本地帮助文档doc下，以html网页的格式方便查看

• 安装Sphinx

  pip install -U sphinx

• 安装主题

  pip install sphinx_rtd_theme

• 安装markdown插件

  pip install recommonmark
  pip install myst-parser
  pip install sphinx_markdown_tables

2.2 Third party library

(推荐)我已经提供了第三方库源码文件3rdparty目录下，执行以下命令安装，不然会出现版本不匹配问题：

mkdir build && cd build
cmake ..
make -j6 
sudo make install

​ (不推荐)如果你想自己源码安装第三方库请使用以下步骤：

• 安装Eigen

  git clone https://gitlab.com/libeigen/eigen.git
  cd eigen
  git checkout 3.3.8
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install
  

• 安装Sophus

  git clone https://github.com/strasdat/Sophus.git
  cd Sophus
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install

• 安装abseil

  在abseil项目的CMakeLists.txt的project(absl LANGUAGES CXX) 下添加以下命令：

  add_compile_options(-fPIC)

  git clone https://github.com/abseil/abseil-cpp.git
  cd abseil-cpp
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install

• 安装 DBow3

  git clone https://github.com/rmsalinas/DBow3.git
  cd abseil-cpp
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装googletest

  git clone https://github.com/google/googletest.git
  cd googletest
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装g2o

  git clone https://github.com/rmsalinas/DBow3.git
  cd abseil-cpp
  git checkout 9b41a4ea
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装opencv & opencv_contrib (4.5-x)

  git clone https://github.com/opencv/opencv.git
  git clone https://github.com/opencv/opencv_contrib.git
  
  cd opencv
  mkdir build && cd build
  cmake-gui .. # 选择extra module opencv_contrib
  make -j6 
  sudo make install
  

3 工程编译

cd LTSLAM
mkdir build
cd build 
cmake ..
make -j6

4 如何运行工程demo

在工程的build/bin目录中，你可以看到对应的每个可执行二进制文件

Let ‘s run xslam.opencv.KLT_test shell command

# KLT 光流跟踪算法
./xslam.opencv.KLT_test

5 Contact Me

我们有微信群和QQ群： 710288823 ，你可以加入我们一起成长，所有代码和教学视频免费。

email ： [e-mail]

加入我们吧！！！

6 Github贡献者

• 123mrchen
• Ze
• Minghao HU
• onwaying