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<html><head><meta http-equiv="Content-Type" content="text/html; charset=utf-8"/><title>Unknown </title></head><body>
<h1 id="rt_slam">RT_SLAM</h1>
<p>Local EKF-SLAM with global map optimization</p>
<p>Tested in: Ubuntu 18.04</p>
<p>Dependencies:</p>
<p>1.- Armadillo C++ library (tested with version 9.900.2), http://arma.sourceforge.net/</p>
<p>2.- OpenCV (tested with version 4.5), https://opencv.org/</p>
<p>3.- Ceres Solver (tested with version 2.0) http://ceres-solver.org/</p>
<p>4.- Python (tested with version 3.6)</p>
<p>Another dependencies (already included by source code) </p>
<p>1.- anms (from paper: Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution)</p>
<p>2.- matplotlib-cpp https://github.com/lava/matplotlib-cpp</p>
<p>//---------------------------------------------------------------------------------------</p>
<p>For compiling:</p>
<p>1.- Configure Makefile for dependencies</p>
<p>2.- run:<br />
- make</p>
<p>For fresh compiling:
- make clean
- make</p>
<p>//----------------------------------------------------------------------------------------</p>
<p>To set openplas to run in a single thread,
configure the environment variable </p>
<p>-export OPENBLAS_NUM_THREADS=1</p>
<p>To set OPENCV to run in a single thread (Avoid OpenCL initialization )
configure the environment variable, </p>
<p>-export OPENCV_OPENCL_DEVICE=disabled </p>
</body></html>