pyslam: A Python repository from gh279760559

How to install:

create env 3.6.9

go to the env:

pip install -r requirements.txt
./install_all.sh
pip install pybind11

note: if git clone with no --recursive then need to run ./install_all.sh one time to download the necessary repo orbslam2, pangolin and g2o. It is highly possible to have some error messages then refer to following.

note: if something wrong with the pybind11 said cannot find python.h

Solution:

delete the build/bin folders in each third party folders
orbslam2_features: add find_package(PythonInterp 3.6 REQUIRED) find_package(PythonLibs 3.6 REQUIRED) to thirdparty/orbslam2_features/pybind11/CMakeLists.txt at line 28-29
pangolin: add find_package(PythonInterp 3.6 REQUIRED) find_package(PythonLibs 3.6 REQUIRED) to thirdparty/pangolin/CMakeLists.txt at line 22-23

g2o: add find_package(PythonInterp 3.6 REQUIRED) find_package(PythonLibs 3.6 REQUIRED) to thirdparty/g2opy/EXTERNAL/pybind11/CMakeLists.txt at line 28-29, also to thirdparty/g2opy/EXTERNAL/CMakeLists.txt top line. For some reasons, the file thirdparty/g2opy/python/CMakeLists.txt is changed automatically. Just undo everything back like following

include_directories(${PROJECT_SOURCE_DIR})

include_directories(${EIGEN3_INCLUDE_DIR})
include_directories(${CHOLMOD_INCLUDE_DIR})
include_directories(${CSPARSE_INCLUDE_DIR})


# pybind11 (version 2.2.1)
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/EXTERNAL/pybind11/tools)
include_directories(${PROJECT_SOURCE_DIR}/EXTERNAL/pybind11/include)
include(pybind11Tools)


pybind11_add_module(g2o g2o.cpp)
target_link_libraries(g2o PRIVATE 
    core
    solver_cholmod
    solver_csparse
    solver_eigen
    solver_dense
    solver_pcg
    solver_slam2d_linear
    solver_structure_only
    types_data
    types_icp
    types_sba
    types_sclam2d
    types_sim3
    types_slam2d
    types_slam2d_addons
    types_slam3d
    types_slam3d_addons
    contrib
)

run main_vo.py or main_slam.py

More old documents refer to README-old

gh279760559/pyslam