Installation

  1. Install the dependencies

  2. Compile using catkin build system

or

run in a docker. In that case, check the instructions for docker.

Dependencies

1. Glog

sudo apt install libgoogle-glog-dev

2. GLFW

sudo apt-get install libglfw3 libglfw3-dev

3. Ros dependencies

If you want to use open3d_slam_ros consider installing jsk-rviz plugins. We use them to visualize the trajectories. If you don’t have them installed, you should still be able to run the package, however with some red letters in the terminal.

Install with apt:

sudo apt install ros-noetic-jsk-rviz-plugins

In case this installation is not sufficient and you still get errors, follow the instructions:

wget http://archive.ubuntu.com/ubuntu/pool/universe/p/pcl/libpcl-visualization1.10_1.10.0+dfsg-5ubuntu1_amd64.deb
wget http://de.archive.ubuntu.com/ubuntu/pool/universe/v/vtk7/libvtk7.1p_7.1.1+dfsg2-2ubuntu1_amd64.deb
sudo dpkg -i libvtk7.1p_7.1.1+dfsg2-2ubuntu1_amd64.deb
sudo dpkg -i libpcl-visualization1.10_1.10.0+dfsg-5ubuntu1_amd64.deb

jsk-rviz plugins inherently depends on pcl_visualization package which depends on vtk7 package. However, these packages are not part of the PCL debian packages. Therefore, we need to install them manually.

4. LUA

If you use open3d_slam_ros, the configs are loaded using LUA, as they allow for an easy configuration management with minimal duplicated code.

Install with apt:

sudo apt install liblua5.2-dev

5. open3d_catkin

Follow the instructions to build open3d_catkin.

Compilation

Once you have built open3D_catkin you can build open3d_slam and open3d_slam_ros if you want ROS support.

catkin build open3d_slam -DCMAKE_BUILD_TYPE=Release
catkin build open3d_slam_ros -DCMAKE_BUILD_TYPE=Release

You’re done with open3d_slam installation, you can proceed to the usage site.