About this Fork

The aim of this fork is to provide a more portable version of dvo-slam which does not require other softwares such as ROS.

c++17 recommended, for alignment of Eigen structs

Uses the following packages:

• Eigen3
• PCL (this fork was tested on v1.11)
• OpenCV
• VTK

Building

Notes on PCL

Possible due to building from source, I have to manually set some definitions for the PCL package in the CMakeLists.txt for dvo_core (line 39) and dvo_slam (line 26). Please check/adjust for your own installation before attempting to build.

1. dvo_core

1. cd /path/to/dvo_slam/dvo_core/build
2. cmake -DCMAKE_BUILD_TYPE=Release ..
3. make

2. g2o

If you already have a g2o installation on your computer, please skip this. Otherwise:

1. cd /path/to/dvo_slam/g2o/build
2. cmake -DCMAKE_BUILD_TYPE=Release ..
3. make

3. dvo_slam

If building with your pre-existing g2o installation, please replace lines 49-51 and 78-82 of the CMakeLists.txt with your own configuration.

1. cd /path/to/dvo_slam/dvo_slam/build
2. cmake -DCMAKE_BUILD_TYPE=Release ..
3. make

Usage

Include directories

• /path/to/dvo_slam/dvo_core/include
• /path/to/dvo_slam/dvo_slam/include

If using the provided g2o:

• /path/to/dvo_slam/g2o/include
• /path/to/dvo_slam/g2o/build

Libraries

Please be mindful of the order: both g2o and dvo_core must be linked before g2o_slam.

• /path/to/dvo_slam/dvo_slam/build/libdvo_slam.a
• /path/to/dvo_slam/dvo_core/build/libdvo_core.a
• tbb, pthread

If using the provided g2o:

• /path/to/dvo_slam/g2o/lib/*.so

Otherwise (from the original dvo_slam/dvo_slam/CMakeLists.txt):

• #${G2O_CORE_LIBRARY}
• #${G2O_SOLVER_DENSE}
• #${G2O_SOLVER_EIGEN}
• #${G2O_TYPES_SLAM3D}