duncanrhamill/oakd_kimera

CMake

OAK-D Kimera Experiment

This is an experiment in getting Kimera to work with an OAK-D.

At the moment all SLAM processing is done on the host, while we wait for custom nodes to be added to OAK-D's Gen2 pipeline.

Note: Currently seems to not be able to find any samples, which mean's it's not working quite yet.

TODO: More info

Build

Download ORB_SLAM3 submodule depthai-core and it's submodules:

git submodule init
cd depthai-core
git submodule update --init --recursive

Install Kimera, following their install instructions. I had a lot of difficulty with this, so make sure:
- gtsam is checked out to ee069286b447ff58b809423cc77c777a02abdfe5
- if you accidentally installed a gtsam version other than the one above you may have an incompatible shared library in /usr/local/lib/libgtsam*. Kimera needs libgtsam.so.4.0.2, so you may need to change the symbolic link of libgtsam.so.4 to point to this rather than some other version. Do this for libgtsam_unstable* as well.
- if (like me, for some ridiculous reason) have multiple OpenCV library versions installed make sure the correct version is specified in the CMakeLists.txt for DBoW2 and Kimera-VIO
- fix Kimera-VIO visualizer, which seems to be a little broken for me, fix is here
When making Kimera-VIO itself you can use the following to also install the library, for use in this repo.
```
sudo make -j $(nproc) install 
```
Download the vocab file and unzip into vocabulary link to file

Build the project:

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

From the root of this repo run the experiment:
```
./oakd_kimera.bash
```