This page provides basic tutorials about the usage of XRSLAM.
Please refer to data_preparation.md for data preparation.
Clone XRPrimer to keep the same root directory as XRSLAM.
Firstly, switch XRPrimer to the branch of the specified OpenCV version git checkout xrslam-opencv3.4.7
cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF && cmake --build build --target install -j8
to configure some common dependencies.cmake -B build && cmake --build build -j8
to generate the project using cmake../build/xrslam-pc/player/xrslam-pc-player -sc configs/euroc_slam.yaml -dc configs/euroc_sensor.yaml --tum trajectory.tum euroc:///data/EuRoC/MH_01_easy/mav0
./build-ios.sh
to configure some common dependencies../build-ios.sh
to generate the XCode project using cmake.xrslam-ios-visulaizer
is what you need to download to the iPhone, and an APP named XRSLAM
will start automatically.After the project is compiled successfully, you could use this shared library lib/libxrslam.so and include/XRSLAM.h to build XRSLAM on ROS.
For more information on installation, please refer to installation.md.
Please refer to euroc_evaluation.md for evaluation.
The project folder structure is as follows.
xrslam
├── xrslam
├── xrslam-extra
├── xrslam-interface
├── xrslam-localization
├── xrslam-pc
├── xrslam-ios
├── xrslam-ros
...
After the project is compiled successfully, lib/libxrslam.so will be generated. Using this shared library and include/XRSLAM.h , you can build your own examples.
In xrslam-pc, we provide a example on PC. You can refer to xrslam-pc/player/src/main.cpp.
In addition to the slam function, this example also includes dataset reading (Euroc/TUM), trajectory file saving, and visualization functions.
In order to understand the API usage more quickly, you can turn off the visualization and read the dataset in Euroc format. This mode only depends on the lib/libxrslam.so and include/XRSLAM.h, and does not contain additional auxiliary functions.
After the project is compiled successfully, lib/iOS/Release/libxrslam.a will be generated. Using this static library and include/XRSLAM.h , you can build your own examples.
In xrslam-ios, we provide a example on iOS. You can refer to xrslam-ios/visualizer/src/XRSLAM_iOS.mm.
In addition to the slam function, this example also includes the creation of virtual objects and the sfm-based localization. The API of sfm-based localization can refer to xrslam-localization/include/XRGlobalLocalizer.h.
Please refer to API doc for XRSLAM's API documentation.
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