Getting Started

This page provides basic tutorials about the usage of XRSLAM.

Data Preparation

Please refer to data_preparation.md for data preparation.

Installation

Requirements

  • C++17

  • GCC9/Clang13

  • CMake 3.15+

  • XRPrimer

Clone XRPrimer to keep the same root directory as XRSLAM.

Build and Run

Firstly, switch XRPrimer to the branch of the specified OpenCV version git checkout xrslam-opencv3.4.7

Linux/Mac

  • In XRPrimer, run cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF && cmake --build build --target install -j8 to configure some common dependencies.

  • In XRSLAM, run cmake -B build && cmake --build build -j8 to generate the project using cmake.

  • Start the XRSLAM pc palyer with command ./build/xrslam-pc/player/xrslam-pc-player -sc configs/euroc_slam.yaml -dc configs/euroc_sensor.yaml --tum trajectory.tum euroc:///data/EuRoC/MH_01_easy/mav0

iOS

  • In XRPrimer, run ./build-ios.sh to configure some common dependencies.

  • In XRSLAM, run ./build-ios.sh to generate the XCode project using cmake.

  • The target xrslam-ios-visulaizer is what you need to download to the iPhone, and an APP named XRSLAM will start automatically.

For more information on installation, please refer to installation.md.

Evaluation

Please refer to euroc_evaluation.md for evaluation.

API introduction

The project folder structure is as follows.

xrslam
├── xrslam
├── xrslam-extra
├── xrslam-interface
├── xrslam-localization
├── xrslam-pc
├── xrslam-ios
...

  • xrslam : slam core functions are defined

  • xrslam-extra : yaml_config and opencv image reading functions are defined

  • xrslam-interface : API functions

  • xrslam-localization : sfm-based relocalization functions are defined

  • xrslam-pc : contain examples for PC

  • xrslam-ios : contain examples for iOS

Linux/Mac

After the project is compiled successfully, lib/libxrslam.so will be generated. Using this shared library and include/XRSLAM.h , you can build your own examples.

In xrslam-pc, we provide a example on PC. You can refer to xrslam-pc/player/src/main.cpp.

In addition to the slam function, this example also includes dataset reading (Euroc/TUM), trajectory file saving, and visualization functions.

In order to understand the API usage more quickly, you can turn off the visualization and read the dataset in Euroc format. This mode only depends on the lib/libxrslam.so and include/XRSLAM.h, and does not contain additional auxiliary functions.

iOS

After the project is compiled successfully, lib/iOS/Release/libxrslam.a will be generated. Using this static library and include/XRSLAM.h , you can build your own examples.

In xrslam-ios, we provide a example on iOS. You can refer to xrslam-ios/visualizer/src/XRSLAM_iOS.mm.

In addition to the slam function, this example also includes the creation of virtual objects and the sfm-based localization. The API of sfm-based localization can refer to xrslam-localization/include/XRGlobalLocalizer.h.

Please refer to API doc for XRSLAM’s API documentation.