Perception Box

Table of Contents

• Acknowledgments
• Features
• Prerequisites
• Installation

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Ver 1

• 1. Install Dependencies
• 2. Install Required Libraries
• 3. Build and Install Stella-VSLAM
• 4. Build and Install Pangolin Viewer
• 5. Build Perception Box

Ver 2

• Bash Script Installation

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• Create Config File
• Usage

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Acknowledgments

We extend our gratitude to our mentors and advisors for their guidance and support:

• Professor Kris Hauser
• João Marques

This project is built as a fork of the stella-vslam-examples repository, with contributions from members of the IML Research Team:

• Aaditya Voruganti (GitHub)
• Vallabh Nadgir (GitHub)

Features

• Multi-Camera Support: Monocular, and RGB-D cameras.
• Flexible Input: Supports video files and live camera feeds.
• Pangolin Viewer: OpenGL-based viewer for real-time visualization.
• Optimized for Embedded Systems: Suitable for NVIDIA Jetson platforms.

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Prerequisites

• Operating System: Ubuntu 18.04 or 20.04 (for NVIDIA Jetson)
• Compiler: GCC with C++11 support
• CMake: Version 3.5 or higher
• Git

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Installation

1. Install Dependencies

Open a terminal and execute the following commands:

sudo apt update
sudo apt upgrade -y --no-install-recommends

# Basic dependencies
sudo apt install -y build-essential pkg-config cmake git wget curl unzip

# g2o dependencies
sudo apt install -y libatlas-base-dev libsuitesparse-dev

# OpenCV dependencies
sudo apt install -y libgtk-3-dev ffmpeg libavcodec-dev libavformat-dev \
libavutil-dev libswscale-dev libavresample-dev libtbb-dev

# Eigen dependencies
sudo apt install -y gfortran

# backward-cpp dependencies (optional but recommended)
sudo apt install -y binutils-dev

# Other dependencies
sudo apt install -y libyaml-cpp-dev libgflags-dev sqlite3 libsqlite3-dev

# Pangolin dependencies
sudo apt install -y libglew-dev

2. Install Required Libraries

Install Eigen

cd ~/Downloads
wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.bz2
tar xf eigen-3.3.7.tar.bz2
cd eigen-3.3.7
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

Install OpenCV

cd ~/Downloads
# Download OpenCV source
wget -q https://github.com/opencv/opencv/archive/4.5.5.zip
unzip -q 4.5.5.zip
cd opencv-4.5.5
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DBUILD_DOCS=OFF \
      -DBUILD_EXAMPLES=OFF \
      -DBUILD_TESTS=OFF \
      -DBUILD_PERF_TESTS=OFF \
      -DBUILD_opencv_python_bindings_generator=OFF \
      -DWITH_TBB=ON \
      -DWITH_OPENMP=ON \
      -DWITH_FFMPEG=ON \
      -DWITH_GTK=ON \
      -DWITH_V4L=ON \
      -DWITH_OPENGL=ON \
      -DWITH_GSTREAMER=ON \
      -DENABLE_FAST_MATH=ON \
      -DWITH_CUDA=ON \
      ..
make -j$(nproc)
sudo make install

Install FBoW

cd ~/Downloads
git clone https://github.com/stella-cv/FBoW.git
cd FBoW
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

Install g2o

cd ~/Downloads
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
git checkout 20230223_git
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DBUILD_SHARED_LIBS=ON \
      -DBUILD_UNITTESTS=OFF \
      -DG2O_USE_CHOLMOD=OFF \
      -DG2O_USE_CSPARSE=ON \
      -DG2O_USE_OPENGL=OFF \
      -DG2O_USE_OPENMP=OFF \
      -DG2O_BUILD_APPS=OFF \
      -DG2O_BUILD_EXAMPLES=OFF \
      -DG2O_BUILD_LINKED_APPS=OFF \
      ..
make -j$(nproc)
sudo make install

Install backward-cpp (Optional but Recommended)

cd ~/Downloads
git clone https://github.com/bombela/backward-cpp.git
cd backward-cpp
git checkout 5ffb2c879ebdbea3bdb8477c671e32b1c984beaa
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j$(nproc)
sudo make install

Install Pangolin

cd ~/Downloads
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout eab3d3449a33a042b1ee7225e1b8b593b1b21e3e
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local \
      -DBUILD_EXAMPLES=OFF \
      -DBUILD_PANGOLIN_PYTHON=OFF \
      ..
make -j$(nproc)
sudo make install

3. Build and Install Stella-VSLAM

mkdir -p ~/stella_ws/src
cd ~/stella_ws/src
git clone --recursive https://github.com/stella-cv/stella_vslam.git
cd stella_vslam
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j$(nproc)
sudo make install

4. Build and Install Pangolin Viewer

cd ~/stella_ws/src
git clone --recursive https://github.com/stella-cv/pangolin_viewer.git
cd pangolin_viewer
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j$(nproc)
sudo make install

5. Build Perception Box

git clone https://github.com/uiuc-iml/Perception-Box.git
cd Perception-Box
mkdir build
cd build
cmake ..

Download the Vocab file from: Vocab file

Bash Installation

cd ~/Downloads
git clone "https://github.com/uiuc-iml/Perception-Box.git"
chmod +x install_stella_vslam.sh
./install_stella_vslam.sh

Configurator

In python helpers, there is a configurator for the zed and realsense camera - Usage

Run the Flask App

Access the Web App Open your browser and go to http://127.0.0.1:5000.

Configure Camera Settings

Select the camera type (ZED or RealSense).
Choose resolution, frame rate, and other camera options.
Set the socket address and port.

Generate YAML

Click the Generate YAML button.
Download the generated camera_config.yaml file.

Install requirements for the mapping module

cd Perception-Box
pip install -r requirements.txt

Run Mapping

On the client device, create an XML-RPC client using the perception box's local network IP. Enter the mapping directory of the Perception-Box folder and run the mapping server on the perception box:

python testserver.py

Next, run the perception box using the bash script given below. Then, use the available APIs to start, pause, and end mapping from the client side. Use the get_metric_map and get_semantic_map APIs to get the map over the XML-RPC interface. Look at the documentation {link for API documentation} for more information. See example_client.py for inspiration. Note: Be sure to change the IP to your perception box's IP.

Run Perception Box

Example:

./run_camera_slam --vocab /home/perception/lib/stella_vslam_examples/build/orb_vocab.fbow --config /home/perception/lib/stella_vslam_examples/build/realsense.yaml --number 4 --viewer pangolin_viewer

Note: Adjust the paths based on the local configuration of your system

Example sequence of commands

First run the mapping box (We could make a bash script that does this on start everytime). Then, use the above bash script to start SLAM (We could make it so that it executes on start_task()). Then, call start_mapping() to start mapping (from the client). Finally, use the APIs to get maps and call stop_mapping() and stop_task() when finished.