I hope you can lean slam step by step, you will can learn online LTSLAM documents tutorial

You can learn slam knowledge by 哔哩哔哩 bilibili . This video website has a detailed explanation of the code and the corresponding SLAM technology principle. Let's start a happy journey. enjoy....

XSLAM is an open source C++ demo for learn vision slam and lidar slam. Through open source engineering, we can learn the following knowledge content:

• C++ tutorial
• CMake tutorial
• Eigen tutorial
• OpenCV tutorial
• Quaternions tutorial
• Ceres Solver tutorial
• Kalman Filter tutorial
• VINS Mono( VINS Project) tutorial

• xlsam
• xlsam_ros
  • slam2d (2D lidar SLAM)
  • vins-mono (VSLAM)

git clone https://github.com/AibotBeginer/XSLAM.git

主要目的实现本地帮助文档doc下，以html网页的格式方便查看

• 安装Sphinx

  pip install -U sphinx

• 安装主题

  pip install sphinx_rtd_theme

• 安装markdown插件

  pip install recommonmark
  pip install myst-parser
  pip install sphinx_markdown_tables

(推荐)我已经提供了第三方库源码文件3rdparty目录下，执行以下命令安装，不然会出现版本不匹配问题：

mkdir build && cd build
cmake ..
make -j6 
sudo make install

​ (不推荐)如果你想自己源码安装第三方库请使用以下步骤：

• 安装Eigen

  git clone https://gitlab.com/libeigen/eigen.git
  cd eigen
  git checkout 3.3.8
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install
  

• 安装Sophus

  git clone https://github.com/strasdat/Sophus.git
  cd Sophus
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install

• 安装abseil

  在abseil项目的CMakeLists.txt的project(absl LANGUAGES CXX) 下添加以下命令：

  add_compile_options(-fPIC)

  git clone https://github.com/abseil/abseil-cpp.git
  cd abseil-cpp
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install

• 安装 DBow3

  git clone https://github.com/rmsalinas/DBow3.git
  cd abseil-cpp
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装googletest

  git clone https://github.com/google/googletest.git
  cd googletest
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装g2o

  git clone https://github.com/rmsalinas/DBow3.git
  cd abseil-cpp
  git checkout 9b41a4ea
  mkdir build && cd build
  cmake ..
  make -j6 
  sudo make install  
  

• 安装opencv & opencv_contrib (4.5-x)

  git clone https://github.com/opencv/opencv.git
  git clone https://github.com/opencv/opencv_contrib.git
  
  cd opencv
  mkdir build && cd build
  cmake-gui .. # 选择extra module opencv_contrib
  make -j6 
  sudo make install
  

cd XSLAM
mkdir build
cd build 
cmake ..
make -j6

在工程的build/bin目录中，你可以看到对应的每个可执行二进制文件

Let ‘s run xslam.opencv.KLT_test shell command

# KLT 光流跟踪算法
./xslam.opencv.KLT_test

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