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

xslam_ros_2d

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

github_gxz