Installation

Installation on Ubuntu 14.04.1

The Ubuntu 14.04.1 can be download from http://www.ubuntu.com/download/desktop

Before compiling the PUTSLAM it is necessary to install dependencies:

OpenCV Installation

PUTSLAM supports OpenCV versions 3.x. OpenCV has to be compiled with extra modules package, that contains non-free features, such as SURF or SIFT descriptors. To do that, execute following commands:

sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev 
git clone https://github.com/Itseez/opencv_contrib.git
git clone https://github.com/opencv/opencv.git
cd opencv
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Debug -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make -j$(nproc)
sudo make install

When needed the OpenCV library can be also build in Release:

cd ..
mkdir Release && cd Release
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules ..
make -j$(nproc)
sudo make install

PUTSLAM

To compile PUTSLAM, you need to install the boost library:

sudo apt-get install libboost-all-dev libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev freeglut3-dev

Before launching any executable run the following command to cache the most recent shared libraries installed.

sudo ldconfig -v

Go to directory you want to put the PUTSLAM and then:

git clone https://github.com/LRMPUT/PUTSLAM.git
cd PUTSLAM
bash build.sh

As a results in path (...)/PUTSLAM/build/bin you should have multiple files starting with "demo..." presenting the use of PUTSLAM.

Attention! The bash build.sh script compiles automatically the modified version of g2o, installs the mentioned version in the system, downloads the Fabmap files and builds PUTSLAM.

OCTOMAP installation - optional

Go to any directory you prefer and then:

git clone git://github.com/OctoMap/octomap.git
cd octomap
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install

g2o - now 3rd party

Install g2o dependencies:

sudo apt-get install libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev freeglut3-dev

Download g2o sources:

git clone https://github.com/LRMPUT/PUTSLAM/tree/master/3rdParty/g2o.git

Go to the directory with your g2o copy. Compile and install g2o:

cd g2o
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install