Code repository with DAG node packages and visalization scripts
- Install yolodynaslam: follow directions from original repository https://github.com/bijustin/YOLO-DynaSLAM
extract vocabulary files from original repo
Dataset used for experiments: rgbd_dataset_freiburg3_walking_xyz and rgbd_dataset_freiburg3_walking_halfsphere
- Install darknet
cd darknet_fs/darknet make
sudo cp libdarknet.so /usr/local/lib/
sudo cp include/darknet.h /usr/local/include/
sudo ldconfig
following instrcutions from https://github.com/stephanecharette/DarkHelp
- Install RRT-CUDA
cd RRT_CUDA make
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Install TSP-Solver: original repo: https://github.com/aashusingh/TSP-Solver
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Install MPC install osqp mpc: https://github.com/osqp/osqp install cpp wrapper https://github.com/robotology/osqp-eigen
link forreference only, do not clone, code is in this repo
cd osqp-eigen mkdir build cd build cmake -DCMAKE_INSTALL_PREFIX:PATH= ../ make make install
INstall rabbutmq follow original repository instruciotns https://github.com/alanxz/rabbitmq-c https://github.com/alanxz/SimpleAmqpClient
Advanced steps: For rabbitmq integration with TSP: g++ Approx.cpp Read.cpp Greedy.cpp BnB.cpp SA.cpp HC.cpp TSP.h TSPSolver.cpp -o tsp -lSimpleAmqpClient -lboost_chrono -lboost_system -lrabbitmq -lrt -lssl -lcrypto -ldl -lpthread
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/
complie cent.cpp similarly
g++ cent_con.cpp -o cent_con -lSimpleAmqpClient -lboost_chrono -lboost_system -lrabbitmq -lrt -lssl -lcrypto -ldl -lpthread
- for depth estimation: put depth data in darknet/data dolder
Run SP analysis experiemtns:
sudo rabbitmqctl stop_app
sudo rabbitmqctl reset
sudo rabbitmqctl start_app
sudo rabbitmqctl list_queues
./run_kernels.sh
wait a few seconds for initialization
./cent_con