ToySlam

Under developing slam repository. This repository is for testing slam algorithms. Currently works with stereo cameras. IMU will be supported in future.

Tested algorithms

• Square Root Marginalization for Sliding-Window Bundle Adjustment, N. Demmel, D. Schubert, C. Sommer, D. Cremers, V. Usenko, In 2021 International Conference on Computer Vision (ICCV), [arXiv:2109.02182]

Build - Tested in Ubuntu22.04, Windows

Ubuntu

• update the Ubuntu package

sudo apt update
sudo apt install -y unzip cmake build-essential ninja-build libx11-dev xorg-dev libglu1-mesa-dev pkg-config libgtk2.0-dev qtbase5-dev libxcb-xinput0 libxcb-xinerama0 mesa-vulkan-drivers  vulkan-tools 

• libs and source installation

git clone https://github.com/yunsuk-jeung/lib.git
bash lib/install_libs_ubuntu2204_release.sh

git clone https://github.com/yunsuk-jeung/toy_slam.git
cd toy_slam
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8

• run euroc sample

#in build folder
./euroc_vo

• directory

workspace
  |_ lib
  |_ toy_slam
  |_ EUROC/V1_01_easy

Windows

to be described