Build Instructions

Our lab's development environment is Ubuntu 20.04 and gcc9. We also support whatever environments the developers feel like supporting (currently Arch Linux and Mac OS).

In the below instructions XIVO_ROOT is the location that XIVO is cloned to.

Step 0: Install dependencies

(list may be incomplete)

Ubuntu:

sudo apt-get install cmake libpython-dev libsuitesparse-dev libgflags-dev libgoogle-glog-dev libgl1-mesa-dev libglew-dev libfmt-dev

Arch Linux:

sudo pacman -S cmake blas cblas glew fmt

Next (for Arch Linux only), compile gflags and glog. We will need to link OpenCV against it instead of using a separate system-wide installation of gflags and glog.

cd $XIVO_ROOT
./build_arch0.sh

Step 1: Install OpenCV + OpenCV_Contrib

1.1: Download and checkout the 3.4 branch, then cd to the main OpenCV repository

$ git clone https://github.com/opencv/opencv.git
$ cd opencv
$ git checkout 3.4
$ cd ..
$ git clone https://github.com/opencv/opencv_contrib.git
$ cd opencv_contrib
$ git checkout 3.4
$ cd ../opencv
$ mkdir build && cd build

1.2 Configure OpenCV using Cmake. (This differs by platform.)**

The default value of $OPENCV_INSTALL_LOCATION is /usr/local. This is not desirable since it may interfere with other programs; we recommend installing OpenCV for XIVO in a separate location.

Ubuntu:

$ cmake .. \
    -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=$OPENCV_INSTALL_LOCATION \
    -D ENABLE_FAST_MATH=1 \
    -D CUDA_FAST_MATH=1 \
    -D OPENCV_ENABLE_NONFREE=ON \
    -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \

Arch Linux:

First, add the following line at line 33 of /path/to/opencv/src/modules/core/CMakeLists.txt

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error=address")

Next, added the following lines right after line 5 of /path/to/opencv_contrib/src/modules/sfm/CMakeLists.txt. (Either export XIVO_ROOT as an environment variable or replace XIVO_ROOT with the absolute path in the lines below.

set(Glog_DIR "${XIVO_ROOT}/thirdparty/glog/lib/cmake/glog")
set(Gflags_DIR "${XIVO_ROOT}/thirdparty/gflags/lib/cmake/gflags")

Then, run:

$ cmake .. \
    -D CMAKE_BUILD_TYPE=RELEASE \
    -D CMAKE_INSTALL_PREFIX=/home/stephanie/DevelopmentEnvironments/xivo \
    -D ENABLE_FAST_MATH=1 \
    -D CUDA_FAST_MATH=1 \
    -D OPENCV_ENABLE_NONFREE=ON \
    -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
    -D CMAKE_EXE_LINKER_FLAGS=-lcblas \
    -D CMAKE_SHARED_LINKER_FLAGS=-lcblas \
    -D WITH_FFMPEG=OFF \
    -D BUILD_EXAMPLES=OFF \
    -D BUILD_TESTS=OFF \
    -D BUILD_PERF_TESTS=OFF \
    -D CMAKE_DISABLE_FIND_PACKAGE_Ceres=ON \
    -D Glog_DIR=/path/to/xivo/thirdparty/glog/lib/cmake/glog \
    -D Gflags_DIR=/path/to/xivo/thirdparty/gflags/lib/cmake/gflags

Mac OS:

[fill this in later]

1.3: Compile and Install OpenCV

$ make -j $CPU_COUNT
$ make install

Step 2: Choose Compile-Time Options in XIVO

In CMakeLists.txt:

• Set CMAKE_BUILD_TYPE to "Debug", "RelWithDebInfo", or "Release". (Default="Release")
• (Optional) Comment-out add_definitions(-DGOOGLE_STRIP_LOG=1) to enable logging

In src/CMakeLists.txt, comment or uncomment the following lines. (comment=false, uncomment=true)

• add_definitions(-DUSE_INVDEPTH)
• add_definitions(-DUSE_ONLINE_IMU_CALIB)
• add_definitions(-DUSE_ONLINE_TEMPORAL_CALIB)
• add_definitions(-DUSE_ONLINE_CAMERA_CALIB)
• add_definitions(-DUSE_MAPPER)

In src/CMakeLists.txt, set values on the following lines. Leave lines commented to use the default values in src/core.h:

• add_definitions(-DEKF_MAX_FEATURES=30) -- maximum number of features tracked in the EKF
• add_definitions(-DEKF_MAX_GROUPS=15) -- maximum number of groups tracked in the EKF
• add_definitions(-DENFORCE_SO3_FREQ=50) -- frequency (in number of vision measurements) at which to project rotation matrices to SO(3) to prevent accumulation of numerical error

Step 3: Build Xivo

Ubuntu:

$ git clone https://github.com/ucla-vision/xivo.git
$ cd xivo
$ ./build.sh

Arch Linux:

$ git clone https://github.com/ucla-vision/xivo.git
$ cd xivo
$ ./build_arch.sh

Mac OS:

$ git clone https://github.com/ucla-vision/xivo.git
$ cd xivo
$ ./build_mac.sh