roblineVO

Robust Line based Visual odometry using RGB-D images

System requirements

1. CMake version > 3.0 [Check with > cmake --version]

2. (Developed on) OpenCV 3.4.9

   • To download please use: https://github.com/opencv/opencv/archive/3.4.9.zip
   • To install, refer https://docs.opencv.org/master/d7/d9f/tutorial_linux_install.html
     Our build configuration: CMAKE_BUILD_TYPE=Release, OPENCV_GENERATE_PKGCONFIG=ON
   • Check installation using pkg-config --modversion opencv

3. Eigen 3.0 or higher [Check with > pkg-config --modversion eigen3 ]

4. Pangolin [Download here: https://github.com/stevenlovegrove/Pangolin]

   • OpenGL

   sudo apt install libgl1-mesa-dev

   • Glew

   sudo apt install libglew-dev

5. LBD_and_LineMatching [Download here: https://github.com/XuefengBUPT/LBD_and_LineMatching]

   • Used for line tracking
   • Place at the directory where robline is cloned, i.e, should be placed right outside of robline root dir.

   git clone https://github.com/XuefengBUPT/LBD_and_LineMatching

   • There's a secret sauce file that @awadhut will include later! [email us if it's not here]

6. Arpack++ [Large scale eigen value solver]

   • Used by LBD Line matcher

   sudo apt-get install arpack++

7. Levenberg-Marquardt Opimizer [Download verion 2.6 here: http://users.ics.forth.gr/~lourakis/levmar/levmar-2.6.tgz]

   • Place at the directory where robline is cloned, i.e, should be placed right outside of robline root dir.

   sudo apt-get install f2c

   • Open CMakeLists.txt in levmar-2.6 and make line 90 as:

   TARGET_LINK_LIBRARIES(lmdemo ${LIBS} -lm)

8. Python 2.7 [Optional]
   For running the associate script to time synchronize RGB and Depth images of the TUM Dataset

Build instruction

$ mkdir build && cd build
$ cmake ..
$ make -j2

Dataset

We use the TUM fr1 sequence for developmental testing [https://vision.in.tum.de/data/datasets/rgbd-dataset/download]
Download the fr1/xyz sequence and extract it
Place the extracted folder in the data directory
P.S: Run the associate script in tools to time synchronize the rgb and depth images

$ python associate.py ../data/rgbd_dataset_freiburg1_xyz/rgb.txt ../data/rgbd_dataset_freiburg1_xyz/depth.txt
This should've created the synched_data.txt file in the fr1 data directory

References:

Pangolin utils: https://github.com/uoip/pangolin/blob/master/python/contrib.hpp [lines, points, cameras]

Isses that pop up once in a while:

If you get librealsense2.so is missing for pangolin, clear build and rebuild Pangolin. Temporary hacky fix.

$ cd to/root/dir/of/pangolin
$ rm -rf build
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install