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Installation

We provide some tips for XRSLAM installation in this file.

Build from Source

Requirements

  • C++17
  • GCC9/Clang13
  • CMake 3.15+
  • XRPrimer

Clone XRPrimer to keep the same root directory as XRSLAM, then switch the branch to the specified OpenCV version.

git clone https://github.com/openxrlab/xrprimer.git
cd xrprimer
git checkout xrslam-opencv3.4.7

If your project folder structure is different, need to change the XRPrimer path.

xrprimer
├──
...
xrslam
├── xrslam
├── xrslam-pc
├── xrslam-ios
├── xrslam-ros
...

Linux/Mac

  • In XRPrimer, run

    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.

  • In XRSLAM, run

    cmake -B build && cmake --build build -j8

    to generate the project using cmake.

  • Start the XRSLAM pc player with the command

    ./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
    • Click the first button "Stopped" of the player to automatically execute the program on the whole sequence.
    • Long press the second button "Forward" to run the program continued until the mouse button is released.
    • Click the last button "Step" to run the program by inputting a single image of the sequence.
    • Click the left mouse button to rotate the viewing angle, and slide the mouse wheel to scale the viewing size.

iOS

  • In XRPrimer, run ./build-ios.sh to configure some common dependencies.
  • In XRSLAM, run ./build-ios.sh to generate the XCode project using cmake.
    • If it is the first time to run its iOS version, build-ios.conf will be automatically generated, you need to assign the IOS_DEVELOPMENT_TEAM with your own development id, then run ./build-ios.sh again to generate the xcode project.
    • It will cost about several minutes (Apple M1 Pro). Then the XCode project xrslam-superbuild will be automatically open. if not, you can also open this Xcode project manually by the path project_path/build/iOS/xrslam-superbuild.xcodeproj
  • The target xrslam-ios-visulaizer is what you need to download to the iPhone, and an APP named XRSLAM will start automatically.
    • Be sure that your iPhone is supported by checking the supported devices list
    • If the project failed to build in Xcode, try to clean the build folder using cmd+shift+k

ROS

  • After compiling the shared library lib/libxrslam.so, then run

    cd xrslam-ros
catkin_make
source devel/setup.bash

    to build XRSLAM on ROS.

  • Open three terminals, launch the xrslam_ros, rviz and play the bag file respectively. Take MH_01 for example

    roslaunch xrslam_ros euroc.launch
roslaunch xrslam_ros rviz.launch
rosbag play YOUR_PATH_TO_DATASET/MH_01_easy.bag

Docker image

Build an Image

We provide a Dockerfile to build an image.

docker build -t xrslam .

Create a Container

Create a container with command:

docker run -it xrslam /bin/bash

Copy Dataset into Container

# b1e0d3f809f6 is container id, using 'docker ps -a' to find id
docker cp data/EuRoC/MH_01_easy b1e0d3f809f6:MH_01_easy

Run in Container without Visualization

cd xrslam
`./build/xrslam-pc/player/xrslam-pc-player -sc configs/euroc_slam.yaml -dc configs/euroc_sensor.yaml --tum trajectory.tum euroc:///MH_01_easy/mav0`