Ubuntu 20.04 & ROS Noetic

Build

mkdir -p ~/closedloop_ws/src

# Configure ros workspace.
cd ~/closedloop_ws
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17

# Clone dsol.
cd src
git clone https://github.gatech.edu/RoboSLAM/dsol.git

# Build 3rdparty.
# Assuming $SLAM_OPENSOURCE_ROOT variable is defined, the 3rdparty library
# will be installed under "$SLAM_OPENSOURCE_ROOT/dsol/".

sudo apt install libgflags-dev libgmock-dev libgtest-dev

cd dsol
./build_deps.sh

# Build dsol.

cd ~/catkin_ws/src/dsol
catkin build -j2 --no-status -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_STANDARD=17 --this

Run

# Please make sure roscore is running !!!

cd scripts

source ~/catkin_ws/devel/setup.bash

# Remember to configure the variables in the script.
python Run_EuRoC_Stereo_ROS.py

# Evaluation.
python Evaluate_EuRoC_Stereo.py

Debug

If the error of any library missing is reported, just export the library path:

export LD_LIBRARY_PATH=${SLAM_OPENSOURCE_ROOT}/dsol/lib/:$LD_LIBRARY_PATH

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🛢️ DSOL: Direct Sparse Odometry Lite

Reference

Chao Qu, Shreyas S. Shivakumar, Ian D. Miller, Camillo J. Taylor

https://arxiv.org/abs/2203.08182

https://youtu.be/yunBYUACUdg

Datasets

VKITTI2 https://europe.naverlabs.com/research/computer-vision/proxy-virtual-worlds-vkitti-2/

KITTI Odom

TartanAir https://theairlab.org/tartanair-dataset/

Sample realsense data at

https://www.dropbox.com/s/bidng4gteeh8sx3/20220307_172336.bag?dl=0

https://www.dropbox.com/s/e8aefoji684dp3r/20220307_171655.bag?dl=0

Calib for realsense data is

393.4910888671875 393.4910888671875 318.6263122558594 240.12942504882812 0.095150406

Put this in calib.txt and put it in the same folder of the realsense dataset generated by the python file.

Build

This is a ros package, just put in a catkin workspace and build the workspace.

Run

Open rviz using the config in launch/dsol.rviz

roslaunch dsol dsol_data.launch

See launch files for more details on different datasets.

See config folder for details on configs.

To run multithread and show timing every 5 frames do

roslaunch dsol dsol_data.launch tbb:=1 log:=5

Dependencies and Install instructions

See CMakeLists.txt for dependencies. You may also check our Github Action build file for instructions on how to build DSOL in Ubuntu 20.04 with ROS Noetic.

Disclaimer

For reproducing the results in the paper, place use the iros22 branch.

This is the open-source version, advanced features are not included.