Moved to https://git.opendlv.org.

opendlv-perception-vision-orbslam2

Build with docker

bash buildImage.sh

Run with dataset from KITTI:

docker-compose pull

docker-compose up

Visualizer will now be running on:

localhost:8081

Build native

In order to build and run natively, first install:

opencv

WORKDIR=$(pwd)
git clone https://github.com/opencv/opencv.git
cd opencv && git checkout 3.3.1
cd $WORKDIR
git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib && git checkout 3.3.1
mkdir $WORKDIR/opencv/build && cd $WORKDIR/opencv/build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
      -D CMAKE_INSTALL_PREFIX=/usr/local \
      -D INSTALL_C_EXAMPLES=ON \
      -D INSTALL_PYTHON_EXAMPLES=ON \
      -D WITH_TBB=ON \
      -D WITH_V4L=ON \
      -D WITH_QT=ON \
      -D WITH_OPENGL=ON \
      -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
      -D BUILD_EXAMPLES=ON ..
# adjust based on your CPU
make -j4
make install
echo "/usr/local/lib" >> /etc/ld.so.conf.d/opencv.conf

g2o

git clone https://github.com/marbae/g2o &&\
cd g2o && \
mkdir build && \
cd build && \
cmake -DG2O_BUILD_APPS=OFF -DG2O_BUILD_EXAMPLES=OFF .. && \
make -j4 install

eigen

hg clone https://bitbucket.org/eigen/eigen && \
cd eigen && \
hg pull && \
hg update 3.2 && \
mkdir build && \
cd build && \
cmake .. && \
make -j4 install

Now build opendlv-perception-vision-orbslam2:

mkdir build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr ..
make -j4
make test
make install