Dependencies

ROS Melodic/Noetic

http://wiki.ros.org/ROS/Installation

GTSAM 4

https://github.com/borglab/gtsam

OpenCV 3 or 4

https://github.com/opencv/opencv

OpenVINS v2.3

https://github.com/rpng/open_vins/tree/develop_v2.3

apriltags-cpp (see opencv4 branch if needed)

https://github.com/rpng/apriltags-cpp

Installation

Create your workspace

mkdir -p ./workspace/src
cd workspace/src

OpenVINS project

git clone https://github.com/rpng/open_vins/
cd open_vins/
git checkout v2.3
cd ..

OpenCV 3 or 4 from ROS.

sudo apt install ros-melodic-cv-bridge #18.04
sudo apt install ros-noetic-cv-bridge #20.04

Optional OpenCV from source see these instructions.

git clone https://github.com/opencv/opencv/
git clone https://github.com/opencv/opencv_contrib/
mkdir opencv/build/
cd opencv/build/
cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make -j8
sudo make install

AprilTag lib with ROS wrapper (see opencv4 branch if needed)

git clone https://github.com/rpng/apriltags-cpp.git

Building GTSAM Dependencies
GTSAM is the only package you need to build the others (boost, eigen3) typically come on a linux-based OS. You can optionally install Intel TBB installed as this will allow for GTSAM multithreaded performance (link). You don't need this, but this will allow for faster optimization.

wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB
sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB
rm GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB
sudo sh -c 'echo deb https://apt.repos.intel.com/mkl all main > /etc/apt/sources.list.d/intel-mkl.list'
sudo sh -c 'echo deb https://apt.repos.intel.com/tbb all main > /etc/apt/sources.list.d/intel-tbb.list'
sudo apt-get update
sudo apt-get install intel-tbb-2020.0-088
sudo apt-get install intel-mkl-2020.0-088

Building GTSAM
Then we can build GTSAM as normal and install it globally on our system. Note that we use the system Eigen since we want to link with packages which also use that Eigen version.

sudo apt install libboost-all-dev libeigen3-dev libmetis-dev
git clone https://github.com/borglab/gtsam
mkdir gtsam/build/
cd gtsam/build/
cmake -DCMAKE_BUILD_TYPE=Release -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
make -j6
sudo make -j6 install
echo 'export LD_LIBRARY_PATH=/usr/local/lib/:$LD_LIBRARY_PATH' >> ~/.bashrc

Clone this project

git clone https://github.com/yangyulin/mvis.git

Build

catkin build

Possible Errors and Solutions

Install the latest GTSAM version with the link.

If Eigen error can be solved by turning off the march=native. Which reference is here Go to the build directory

ccmake ..
GTSAM_BUILD_WITH_MARCH_NATIVE=OFF

Do not put the GTSAM lib within the src folder of the udel_calibration project

LZ4 error solution

Computer freezes, build with less parallel threads:

catkin build -j2