<<<<<<< HEAD #ekfslam

Current version: 1.0.0

ekfslam is a real-time monocular visual-inertial SLAM system developed by YuanXingShiKong Inc, which compute the sensor's trajectory and environment sparse 3D map.

We have tested the library in Ubuntu 12.04 and 14.04, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.

C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

Pangolin

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

OpenCV

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. Required at leat 2.4.3. Tested with OpenCV 2.4.11.

Eigen3

Required by g2o (see below). Download and install instructions can be found at: http://eigen.tuxfamily.org. Required at least 3.1.0.

BLAS and LAPACK

BLAS and LAPACK libraries are requiered by g2o (see below). On ubuntu:

sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev

DBoW2 and g2o (Included in Thirdparty folder)

We use modified versions of the DBoW2 library to perform place recognition and g2o library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the Thirdparty folder.

Build

First, please install cyusb_linux_1.0.4 (or higher version), then go to Sensor/ directory

$mkdir build
$cd build
$cmake ..
$make -j8

go to the ekfslam/ directory

mkdir build
cd build
cmake ..
make -j8

##Usage, more details...

$sudo ./ekfslam configLeft.yaml

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