openrealm配置

一、所需库的github地址：

openvslam：laxnpander/openvslam: OpenVSLAM: A Versatile Visual SLAM Framework (github.com)

openrealm：
laxnpander/OpenREALM: OpenREALM is a pipeline for real-time aerial mapping utilizing visual SLAM and 3D reconstruction frameworks. (github.com)

openrealm_ros_bridge:
laxnpander/OpenREALM_ROS1_Bridge: ROS1 bridge for OpenREALM, a real-time aerial mapping framework (github.com)

注意：保证cmake在3.15版本以上

二、openvslam安装：

依赖
GCC >= 4.8 (必须支持C++11特性)
Eigen >= 3.3.0
g2o
SuiteSparse
DBoW2 : 必须使用作者的修改版 https://github.com/shinsumicco/DBoW2.
yaml-cpp >= 0.6.0
OpenCV >= 3.4.0
0.依赖安装

sudo apt-get update
sudo apt-get --no-install-recommends
sudo apt-get build-essential pkg-config cmake git wget curl unzip
sudo apt-get libatlas-base-dev libsuitesparse-dev
sudo apt-get libgtk-3-dev
sudo apt-get ffmpeg
sudo apt-get libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev
sudo apt-get  libgoogle-glog-dev libgflags-dev
sudo apt-get install libopenblas-dev
sudo apt-get install --no-install-recommends libboost1.58-all-dev 
sudo apt-get install libx11-dev 
sudo apt-get install libgl1-mesa-dev sudo apt-get install libglu1-mesa-dev 
sudo apt-get install freeglut3-dev 
sudo apt-get install doxygen 
wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz --no-check-certificate 
tar -xzvf glew-2.1.0.tgz cd glew-2.1.0/ 
make -j2
sudo make install 
sudo ln -s /usr/lib64/libGLEW.so.2.1 /usr/lib/libGLEW.so.2.1
sudo ldconfig -v

1. Eigen安装(最新3.3.7）

wget https://github.com/eigenteam/eigen-git-mirror/archive/3.3.7.tar.gz 
tar -xzvf 3.3.7.tar.gz 
mv eigen-git-mirror-3.3.7/ eigen-3.3.7/ 
cd eigen-3.3.7/ 
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j2
sudo make install 
sudo ldconfig -v

2. 安装g2o

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DCMAKE_CXX_FLAGS=-std=c++11 \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_UNITTESTS=OFF \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DG2O_USE_CHOLMOD=ON \
    -DG2O_USE_CSPARSE=ON \
    -DG2O_USE_OPENGL=OFF \
    -DG2O_USE_OPENMP=ON \
    ..
make -j2
sudo make install 
sudo ldconfig -v

3.安装OpenCV3

wget -q https://github.com/opencv/opencv/archive/3.4.5.zip
unzip -q 3.4.5.zip
rm -rf 3.4.5.zip
cd opencv-3.4.5
mkdir -p build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DENABLE_CXX11=ON \
    -DBUILD_DOCS=OFF \
    -DBUILD_EXAMPLES=OFF \
    -DBUILD_JASPER=OFF \
    -DBUILD_OPENEXR=OFF \
    -DBUILD_PERF_TESTS=OFF \
    -DBUILD_TESTS=OFF \
    -DWITH_EIGEN=ON \
    -DWITH_FFMPEG=ON \
    -DWITH_OPENMP=ON \
    ..
make -j2
sudo make install 
sudo ldconfig -v

4.安装Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j
sudo make install 
sudo ldconfig -v

5.安装DBoW2

git clone https://github.com/shinsumicco/DBoW2.git
cd DBoW2
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j2
sudo make install 
sudo ldconfig -v

6.安装yaml-cpp

git clone https://github.com/jbeder/yaml-cpp
cd yaml-cpp
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j2
sudo make install 
sudo ldconfig -v

7. 编译主项目

https://github.com/xdspacelab/openvslam
cd openvslam
git submodule init
git submodule update
mkdir build && cd build
cmake \
    -DBUILD_WITH_MARCH_NATIVE=OFF \
    -DUSE_PANGOLIN_VIEWER=ON \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=OFF \
    ..
make -j2

三、openrealm安装

# Get the library
git clone https://github.com/laxnpander/OpenREALM.git

# For 3D reconstruction with Plane Sweep Lib (PSL)
git submodule init
git submodule update

# Install the dependencies
cd OpenREALM/tools
chmod u+x install_deps.sh
./install_deps.sh

# Build and install the main library
cd ..
mkdir build && cd build
cmake ..
make all
sudo make install

注意：其中的./install_deps.sh中包含的库中多数已经安装过，可以文本形式打开，自己选择其中未安装项进行安装

注意：下载后一定要进行git submodule init以及git submodule update，否则会发生PSL库缺失的情况

四、openrealm_ros_bridge安装

安装ros环境：

1)设置sources.list
 
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 
2)设置秘钥
 
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 
sudo apt update
sudo apt install ros-melodic-desktop-full（推荐安装桌面完全版）
 
3)初始化rosdep
 
在你使用 ROS 之前，需要初始化 rosdep。rosdep 让你能够轻松地安装被想要编译的源代码，或被某些 ROS 核心组件需要的系统依赖。
 
sudo rosdep init
rosdep update
 
4)将ROS环境变量自动添加到新bash
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
 
5)构建工厂依赖
sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential

安装ros相关的依赖项：

sudo apt install -y -q ros-$ROS_DISTRO-geographic-msgs
sudo apt install -y -q ros-$ROS_DISTRO-geodesy
sudo apt install -y -q ros-$ROS_DISTRO-cv-bridge
sudo apt install -y -q ros-$ROS_DISTRO-rviz
sudo apt install -y -q ros-$ROS_DISTRO-pcl-ros
 
sudo apt install -y -q python-catkin-tools build-essential git wget

安装realm_ros_bridge:

# Create a ROS workspace for compilation
cd ~
mkdir catkin_ws && cd catkin_ws
mkdir src && cd src
 
# Get the ROS package
git clone https://github.com/laxnpander/OpenREALM_ROS1_Bridge.git
 
# Make sure you are in catkin_ws, not src. Then build it
cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release

测试准备：

下载测试数据集：https://drive.google.com/open?id=1-2h0tasI4wzxZKLBbOz3XbJ7f5xlxlMe

 解压  tar -xvzf open_realm_edm_dataset.tar.gz

执行roslaunch realm_ros alexa_gnss.launch

the result of the roslaunch realm_ros alexa_noreco.launch