GSLAM is aimed to provide a general open-source SLAM framework with following features :

-> 1. Share the same API while maintain compatibility with different SLAM systems (such as feature based or direct methods).

-> 2. Support Monocular, Stereo, RGB-D or any custom input types (SAR, IMU, GPS and so on).

-> 3. Provide high efficient implementations of SLAM util classes like SO3, SE3, Camera, IMU, GPS, Bundle and so on.

-> 4. Support other features like coorperation SLAM to build a singular map.

1. For SLAM developers : Everyone can develop their own SLAM implementation based on GSLAM and publish it as a plugin with open-source or not.
2. For SLAM users : Applications are able to use different SLAM plugins with the same API without recompilation and implementations are loaded at runtime.

• src -- source folder

• GSLAM -- Common SLAM APIs
• GUtils -- Utils for GSLAM implementations including Pose optimization, BA frame work
• ORBSLAM -- Implementation of ORBSLAM (SLAM plugin demo)
• dso -- Implementation of dso (SLAM plugin demo)
• gslam -- Test system of GSLAM (Apllication demo)

• Thirdparty --- thirdparty libraries

• PIL -- the basic c++ library for configuration, display, plugin loader (enssential, buildin)
• Eigen -- an opensoure linear algebra library (optional, needed by ORBSLAM plugin)
• g2o -- a general optimization framework (optional & buildin, needed by ORBSLAM plugin)
• boost -- a c++ development library (optional, needed by ORBSLAM)
• pba -- an opensoure bundle implementation on GPU (optional)

• doc --- documents

SLAM Plugin Name	Plugin Authers	Demostration
DSO	Yong Zhao
ORBSLAM	Yong Zhao

Tips: Use ''bash buildAll.sh -d'' to install dependencies. Or you can install the following dependencies by yourself:

Lapack&Blas : sudo apt-get install libblas3 libblas-dev liblapack-dev liblapack3

Boost : sudo apt-get install libboost-all-dev libboost-thread* libboost-system* libboost-filesystem*

OpenCV : sudo apt-get install libopencv-dev

Qt : sudo apt-get install build-essential g++ libqt4-core libqt4-dev libqt4-gui qt4-doc qt4-designer

OpenGL:sudo apt-get install freeglut3 freeglut3-dev libglew-dev libglew1.10

QGLViewer : sudo apt-get install libqglviewer-dev libqglviewer2

Chomod for dso: sudo apt-get install libsuitesparse-dev libeigen3-dev

git clone https://github.com/zdzhaoyong/PIL2
cd PIL2;mkdir build;cd build;
cmake ..;make;sudo make install;

mkdir build;cd build;
cmake ..;make;sudo make install

###2.2 Compile on windows Not tested yet.

gslam Act=Tests [Cases=[case1,case2,...,caseN]]

cd data
gslam conf=orbslam.cfg

More parameters can be setted with Svar at file *.cfg. See more details of Svar at PILBASE.

YongZhao: [email protected]

ShuhuiBu: [email protected]