-
Notifications
You must be signed in to change notification settings - Fork 187
Build REMODE
This implementation requires a CUDA capable GPU and the NVIDIA CUDA Toolkit
https://developer.nvidia.com/cuda-zone
The following libraries are also required: OpenCV, Eigen, Boost and googletest
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 libray 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
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
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
Download the test dataset
cd $MY_WORKSPACE/rpg_open_remode
wget http://rpg.ifi.uzh.ch/datasets/remode_test_data.zip
unzip remode_test_data.zip
Specify the path to the test data by setting the environment variable
export RMD_TEST_DATA_PATH=$MY_WORKSPACE/rpg_open_remode/test_data
If you built without ROS, just execute
cd $MY_WORKSPACE/rpg_open_remode/build
./all_tests
Otherwise
cd $MY_CATKIN_WORKSPACE/devel/lib/open_remode
./all_tests
You can now run REMODE on the test data. Specify the path to the test data:
export RMD_TEST_DATA_PATH=$MY_WORKSPACE/rpg_open_remode/test_data
In case you did not build the ROS node, just execute the following:
cd $MY_WORKSPACE/rpg_open_remode/build
./dataset_main
For the ROS build, a launch file is provided to start the REMODE ROS node. Update your ROS package path and launch the REMODE node:
source cd $MY_CATKIN_WORKSPACE/devel/setup.sh
roslaunch open_remode dataset.launch
A node is provided to publish the test dataset. Run it by executing
rosrun open_remode dataset_publisher
If you have more than one CUDA-capable GPUs in your system, you can specify which one to use by passing the --device= command-line argument. For instance, to run the example using the GPU identified by ID 1, execute the following:
cd $MY_WORKSPACE/rpg_open_remode/build
./dataset_main --device=1
By default, the GPU identified by ID 0 is used.
You can target the compute capability of your CUDA device by specifying arch=compute_xx,code=sm_x in the CUDA_NVCC_FLAGS.