This Version Don't need ROS
LSD-SLAM is a novel approach to real-time monocular SLAM. It is fully direct (i.e. does not use keypoints / features) and creates large-scale, semi-dense maps in real-time on a laptop. For more information see http://vision.in.tum.de/lsdslam where you can also find the corresponding publications and Youtube videos, as well as some example-input datasets, and the generated output as rosbag or .ply point cloud.
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LSD-SLAM: Large-Scale Direct Monocular SLAM, J. Engel, T. Schöps, D. Cremers, ECCV '14
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Semi-Dense Visual Odometry for a Monocular Camera, J. Engel, J. Sturm, D. Cremers, ICCV '13
aivijay/lsd_slam_noros I take this repo and fix some bugs to make it working with linux and testing using GCC 5.4 and CLang 4
The lsd slam code requires c++11 features. Thus, it needs c++11 supported compiler to build the code from source.
sudo apt install build-essential git cmake ninja
sudo apt install libboost-all-dev libeigen3-dev libsuitesparse-dev libopencv-dev
# Install g2o
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
git checkout tags/20170730_git
mkdir build
cd build
cmake -G Ninja ..
sudo ninja install
git clone --recursive https://github.com/wow2006/lsd_slam.git
chmod +x build.sh
./build.sh
sudo apt-get install unzip
wget http://vision.in.tum.de/mono/dataset/sequence_37.zip sequence_37.zip
unzip sequence_37.zip -d .
SAMPLE='$(pwd)/sequence_37'
cd build/Release/apps/slam
./main_on_images -i $SAMPLE/images -o NO_OUTPUT_YET -k $SAMPLE/camera.txt
- Implement new Output3DWrapper
- display tracking
- display point cloud
- Imporve performance
- Export ply file
- Add more Doc
- Implement Docker Image
LSD-SLAM is licensed under the GNU General Public License Version 3 (GPLv3), see http://www.gnu.org/licenses/gpl.html.
For commercial purposes, the original lsd slam authors also offer a professional version under different licencing terms.