Build REMODE

Dependencies

Install dependencies. The following assumes you have an environment variable MY_WORKSPACE pointing to your workspace.

Ubuntu:

sudo apt-get install libopencv-dev libeigen3-dev libboost-filesystem-dev

Install googletest 1.7. Several Ubuntu packages install googletest as a dependency. In order to avoid conflicts with different library versions, build googletest in $MY_WORKSPACE:

cd $MY_WORKSPACE
git clone https://github.com/google/googletest.git
cd googletest
git checkout release-1.7.0
mkdir build && cd build
cmake ..
make
cd ..
mkdir install
cp -r include install
cp build/*.a install

Build without ROS

Clone the REMODE repository:

cd $MY_WORKSPACE
git clone https://github.com/uzh-rpg/rpg_open_remode.git

Build the library and the tests:

cd $MY_WORKSPACE/rpg_open_remode
mkdir build && cd build
cmake -DGTEST_ROOT=$MY_WORKSPACE/googletest/install -DBUILD_ROS_NODE=OFF ..
make

Build the ROS node (requires SVO)

NOTE: the REMODE ROS node currently depends on a message type defined in SVO.

1. Clone SVO from this fork: https://github.com/pizzoli/rpg_svo.git
2. Refer to https://github.com/uzh-rpg/rpg_svo/wiki for instructions on how to build SVO.

Assuming that the environment variable MY_CATKIN_WORKSPACE points to your Catkin workspace, clone the repository:

cd $MY_CATKIN_WORKSPACE/src
git clone https://github.com/uzh-rpg/rpg_open_remode.git

Build the library, the tests and the ROS node:

cd ..
source devel/setup.sh
catkin_make -DGTEST_ROOT=$MY_WORKSPACE/googletest/install