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readme.txt
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readme.txt
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dual camera SLAM. This tends to extend PTAM with full SLAM capability, inculding loop closing and pose drift corrections in large scale.
port rosnodes to nodelets:
add the necessary #includes
get rid of int main()
subclass nodelet::Nodelet
move code from constructor to onInit()
add the PLUGINLIB_DECLARE_CLASS macro
add the <nodelet> item in the <export> part of the package manifest
create the .xml file to define the nodelet as a plugin
make the necessary changes to CMakeLists.txt (comment out a rosbuild_add_executable, add a rosbuild_add_library)
in this project, only the camera drivers and main slam is orgernised in nodelet manager, since massive image copy can be avoided.
###########################################
Installation:
1. install all required library for PTAM
TooN, libcvd, gvars-3.0 (ptam install)
2. install and correctly inculde the following library for the back-end:
DBoW2
G2O
Sophus
############################################
Problems occured before:
1. lib and include dir error:
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CSPARSE_LIBRARY
linked by target "backend" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam
linked by target "creatvoc" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
G2O_CORE_LIBRARY
linked by target "backend" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam
linked by target "creatvoc" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
G2O_INCLUDE_DIR
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/tools
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/registration
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/matching
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/slam
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/cs_geometry
used as include directory in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/g2o_types
G2O_SOLVER_CSPARSE
linked by target "backend" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam
linked by target "creatvoc" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
G2O_STUFF_LIBRARY
linked by target "backend" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam
linked by target "creatvoc" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
G2O_TYPES_SIM3
linked by target "backend" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam
linked by target "creatvoc" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
G2O_TYPES_SLAM3D
linked by target "backend" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam
linked by target "creatvoc" in directory /home/young/localhome/gitlab/dcslam/src/backend/cslam/loops
reason:
(1) g2o wasn't fully installed
(2) CSPARSE_LIB: remove CSPARSE_LIB from EXTERNAL_LIB, but this may potentially cause problems later.
2. g2o related problems: the backend only support the old g2o library. However, the cmakelist in the old g2o library
is modified according the lated svn version in order to find the cholmod solver.
3. LinearMath/btTransform.h cannot be found:
bullet libary need to be installed as dependency. apt-get libbullet-dev, link LinearMath to /usr/include
4. /usr/bin/ld: cannot find -ltoontag:
install tag, need to cp SVD.h in TooN to svd.h