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Installation

Build from Source (Linux)

Requirements

  • C++17
  • GCC 7.5+
  • CMake 3.16+
  • CUDA 7.5+

Dependencies from the default Ubuntu repositories:

    sudo apt-get install \
        wget \
        git \
        cmake \
        build-essential \
        python3 \
        python3-pip \
        libglew-dev \
        libatlas-base-dev \
        libgtest-dev \
        libgflags-dev \
        libgoogle-glog-dev

If the version of CMake is less than 3.16, update it.

wget https://cmake.org/files/v3.21/cmake-3.21.0-linux-x86_64.tar.gz
tar -xf cmake-3.21.0-linux-x86_64.tar.gz
cp -r cmake-3.21.0-linux-x86_64 /usr/share/
ln -sf /usr/share/cmake-3.21.0-linux-x86_64/bin/cmake /usr/bin/cmake

Install xrprimer

git clone [email protected]:openxrlab/xrprimer.git
cd xrprimer
git checkout xrslam-opencv3.4.7
cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF
cmake --build build --target install -j4

Ensure that the root directories of xrsfm and xrprimer remain the same.

xrprimer
├──
...
xrsfm
├── docs
├── scripts
├── src
...

Compile xrsfm

git clone [email protected]:openxrlab/xrsfm.git
cd xrsfm && cmake -B build && cmake --build build -j4

Note: If you encounter difficulties during the compilation of xrprimer, you can try installing xrsfm without xrprimer. This requires OpenCV and Ceres-Solver. Then you can install xrsfm using the following command:

cd xrsfm && cmake -B build -DXRPRIMER_ENABLED=OFF && cmake --build build -j4

Dockerfile

We provide a Dockerfile to build an image. Ensure that you are using docker version >=19.03 and "default-runtime": "nvidia" in daemon.json.

docker build -t xrsfm .

Run it with

docker run --gpus all --network=host -it xrsfm