X-SLAM

1 Introduction

I hope you can learn slam step by step, you will can learn online X-SLAM documents tutorial. What you choose today determines your tomorrow's life path. Diligence will not make up for your indecision.

You can learn slam knowledge by 哔哩哔哩 bilibili . This video website has a detailed explanation of the code and the corresponding SLAM technology principle. Let's start a happy journey. enjoy....

X-SLAM is an open source C++ demo for learn vision slam and lidar slam. Through open source engineering, we can learn the following knowledge content:

• C++ tutorial

• CMake tutorial

• Eigen tutorial

• Math tutorial

• OpenCV tutorial

• Quaternions tutorial

• G2O tutorial

• Pangolin tutorial

• libQGLViewer tutorial

• Ceres Solver tutorial

• Kalman Filter tutorial

• VSLAM tutorial

• VINS Mono( VINS Project) tutorial

• MSCKF-VIO( MSCKF Project) tutorial

开源社区文档

• X-SLAM Tutorial Documents 网站链接

哔哩哔哩 bilibili 视频教程

• B站视频教程 网站链接

1.1 Download LTSLAM source:

git clone https://github.com/quanduyong/LTSLAM.git

1.2 Project directory:

xlsam_ros (2D lidar SLAM)

# step 1 下载 rosbag 数据集
# https://github.com/cartographer-project/cartographer_ros/blob/master/docs/source/data.rst

wget https://storage.googleapis.com/cartographer-public-data/bags/backpack_2d/b2-2015-05-26-13-15-25.bag

# step 2 run
roslaunch xslam_ros demo_slam2d.launch
# step 3 rosbag play

rosbag play b2-2015-05-26-13-15-25.bag

2 安装x-slam

2.1 推荐：docker方式安装

2.1.1 docker安装

cd docker
./scripts/install_docker.sh

2.1.2 X-SLAM环境部署和安装

cd docker
./build_dev.sh standalone.x86_64.dockerfile

2.1.3 运行X-SLAM的demos案例

X-SLAM的demo有很多，一下简单运行几个demo

docker run -it xslam/ltslam

运行每个模块的demo

• run ceres

  ./xslam.ceres.helloworld_numeric_diff_test
  

• run g2o

  ./xslam.g2o.curve_fitting_test

• run dbow3

   ./xslam.dbow3.loop_closure_detect_test
  

• run opencv

  ./xslam.opencv.feature_detection.orb_feature_detector_test
  

• run Sophus

  ./xslam.sophus.basic_test
  

2.2 源码安装（不推荐）

2.2.1 Generate study documents

主要目的实现本地帮助文档doc下，以html网页的格式方便查看

• 安装Sphinx

  pip install -U sphinx

• 安装主题

  pip install sphinx_rtd_theme

• 安装markdown插件

  pip install recommonmark
  pip install myst-parser
  pip install sphinx_markdown_tables

2.2.2 Third party library

(推荐)我已经提供了第三方库源码文件3rdparty目录下，执行以下命令安装，不然会出现版本不匹配问题：

mkdir build && cd build
cmake ..
make -j6 
sudo make install

​ (不推荐)如果你想自己源码安装第三方库请使用以下步骤：

• 安装Eigen

  git clone https://gitlab.com/libeigen/eigen.git
  cd eigen
  git checkout 3.3.8
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install
  

• 安装Sophus

  git clone https://github.com/strasdat/Sophus.git
  cd Sophus
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install

• 安装abseil

  在abseil项目的CMakeLists.txt的project(absl LANGUAGES CXX) 下添加以下命令：

  add_compile_options(-fPIC)

  git clone https://github.com/abseil/abseil-cpp.git
  cd abseil-cpp
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install

• 安装 DBow3

  git clone https://github.com/rmsalinas/DBow3.git
  cd abseil-cpp
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装googletest

  git clone https://github.com/google/googletest.git
  cd googletest
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装g2o

  git clone https://github.com/rmsalinas/DBow3.git
  cd abseil-cpp
  git checkout 9b41a4ea
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装opencv & opencv_contrib (4.5-x)

  git clone https://github.com/opencv/opencv.git
  git clone https://github.com/opencv/opencv_contrib.git
  
  cd opencv
  mkdir build && cd build
  cmake-gui .. # 选择extra module opencv_contrib
  make -j6 
  sudo make install
  

3 工程编译

cd LTSLAM
mkdir build
cd build 
cmake ..
make -j6

4 如何运行工程demo

在工程的build/bin目录中，你可以看到对应的每个可执行二进制文件

如何运行参考如下：

[bin] ./xslam.opencv.camera_calibration.perspective_correction_test

运行结果如下：

5 Contact Me

我们有微信群和QQ群： 710288823 ，你可以加入我们一起成长，所有代码和教学视频免费。

email ： quandy2020@126.com

加入我们吧！！！

6 Github贡献者

• 123mrchen
• Ze
• Minghao HU
• onwaying