/Kintinuous-installation-guide

Installation guide for opensource SLAM tool "Kintinuous"

Kintinuous installation guide

Edit: 2016/08/14 Author: Jacky Liu

Kintinuous GitHub repository (https://github.com/mp3guy/Kintinuous)

The following guide is for Ubuntu 14.04.
For Ubuntu 16.04 users, please check this.

Testing Environment

Hardware

  • CPU: Core i5-3470 CPU at 3.20GHz
  • RAM: 8GB
  • GPU: nVidia GeForce GTX560 1GB

Operating system

  • Ubuntu 14.04

Step by Step tutorial

  1. Download CUDA ToolKit nVidia's official CUDA repository

  2. Install CUDA`

sudo dpkg -i cuda-repo-ubuntu1404_7.5-18_amd64.deb
sudo apt-get update

sudo apt-get install cuda

sudo apt-get install -y cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-7-jdk freeglut3-dev python-vtk libvtk-java libglew-dev cuda-7-5 libsuitesparse-dev`
  1. Install PCL
sudo add-apt-repository -y ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install -y libpcl-all
  1. Download OpenCV
  2. unzip opencv
sudo apt-get install unzip
unzip opencv
  1. Install opencv
cd opencv
mkdir build
cd build
cmake -D BUILD_NEW_PYTHON_SUPPORT=OFF -D WITH_OPENCL=OFF -D WITH_OPENMP=ON -D INSTALL_C_EXAMPLES=OFF -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D WITH_QT=OFF -D WITH_OPENGL=OFF -D WITH_VTK=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_TESTS=OFF -D WITH_CUDA=OFF -D BUILD_opencv_gpu=OFF ..

  1. Install DLib You may encounter cv::KeyPoint is not a member of 'cv' issue, then try to use DLib, DBoW2, and DLoopDetector v1.0 (dorian3d/DLib#7)

  2. Install DBoW2

  3. Install DLoopDetector

  4. Install iSAM

sudo apt-get install subversion
svn co https://svn.csail.mit.edu/isam
cd iSAM
mkdir build
cd build
cmake ..
make
sudo make install

  1. Install Pangolin

  2. Build Kintinuous If GPU memory is not enough(less than recommanded 2GB GPU RAM) for default setting in Kintinuous.
    You could modify the GPU memory value in

 "{Kintinuous}/src/frontend/cuda/internal.h"
line: 243"  #define VOL 256
cd Kintinuous
cd src
mkdir build
cd build
cmake ..
make
cd ../..
mkdir build
cd build
bash ../build.sh
  1. Testing Kintinuous with sample datasets
cd {Kintinuous}/build
wget http://www.cs.nuim.ie/research/vision/data/loop.klg
./Kintinuous -s 7 -v ../vocab.yml.gz -l loop.klg -ri -fl -od

Sample video https://www.youtube.com/watch?v=Y6NedbzQdpY