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Local Installation

SLOAM was developed and tested using Ubuntu 20.04 with ROS Noetic and GCC 9.3. After all dependencies are installed you can continue following the main README file from Build workspace.

Create a folder called thirdparty to clone the packages that will be compiled with CMake.

mkdir ~/thirdparty
cd ~/thirdparty

General dependencies

apt-get update && apt-get install -y \
    software-properties-common \
    build-essential \
    gdb \
    libeigen3-dev \
    libglfw3-dev \
    libglew-dev \
    libtclap-dev \
    libtins-dev \
    libpcap-dev \
    libatlas-base-dev

FMT

git clone https://github.com/fmtlib/fmt.git && \
    cd fmt && \
    git checkout 215f21a0382d325efa66df53fbfbfddb020a2234 && \
    mkdir fmt/build && cd fmt/build && \
    cmake .. && make && make install

GLOG

git clone https://github.com/google/glog.git && \
    cd glog && \ 
    git checkout ee6faf13b20de9536f456bd84584f4ab4db1ceb4 && \
    mkdir build && cd build && \
    cmake .. && make && make install

Sophus

git clone https://github.com/strasdat/Sophus.git && \
    cd Sophus && \
    git checkout 49a7e1286910019f74fb4f0bb3e213c909f8e1b7 && \
    mkdir build && cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && make && make install

Ceres

git clone https://ceres-solver.googlesource.com/ceres-solver && \
    cd ceres-solver && \
    git checkout 206061a6ba02dc91286b18da48825f7a9ef561f0 && \
    mkdir build && cd build && cmake .. && make && make install

ONNX

pip install pytest==6.2.1 onnx==1.10.1
cd /tmp && \
    git clone --recursive --branch v1.8.2 https://github.com/Microsoft/onnxruntime && \
    cd onnxruntime && \
    ./build.sh \
        --config RelWithDebInfo \
        --build_shared_lib \
        --build_wheel \
        --skip_tests \
        --parallel 3 && \
    cd build/Linux/RelWithDebInfo && \
    make install && \
    pip install dist/* && cd ..

ROS Dependencies

apt-get install -y \
    ros-noetic-rviz \
    ros-noetic-tf2-eigen \
    ros-noetic-pcl-ros \
    ros-noetic-pcl-conversions \
    ros-noetic-cv-bridge \
    ros-noetic-image-transport \
    ros-noetic-image-geometry \
    ros-noetic-rqt-image-view \
    ros-noetic-eigen-conversions \
    ros-noetic-robot-localization \
    python3-catkin-tools \
    python3-osrf-pycommon