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3D Reconstruction / Tango rtabmap Installation

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Tango rtabmap Installation

Sources Here

To get started, we need to install dependencies to operate rtabmap.

  1. System dependencies (if ROS is installed)
#!sh

$ sudo apt-get install libsqlite3-dev libpcl-1.7-all libopencv-dev
  1. Install OpenCV
#!sh

$ wget https://github.com/Itseez/opencv/archive/2.4.13.zip
$ unzip 2.4.13 && cd opencv-2.4.13
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make -j4
$ sudo make install
  1. Install PCL 1.8
#!sh
sudo apt-get update  
sudo apt-get install git  

cd ~/Documents    
git clone https://github.com/PointCloudLibrary/pcl.git pcl-trunk    
ln -s pcl-trunk pcl
  • Prerequisite
#!sh
sudo apt-get install g++ 
sudo apt-get install cmake cmake-gui 
sudo apt-get install doxygen   
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common   
sudo apt-get install libflann1.8 libflann-dev 
sudo apt-get install libeigen3-dev 
sudo apt-get install libboost-all-dev 
sudo apt-get install libvtk5.8-qt4 libvtk5.8 libvtk5-dev 
sudo apt-get install libqhull* 
sudo apt-get install libusb-dev 
sudo apt-get install libgtest-dev 
sudo apt-get install git-core freeglut3-dev pkg-config 
sudo apt-get install build-essential libxmu-dev libxi-dev  
sudo apt-get install libusb-1-0-dev graphviz mono-complete 
sudo apt-get install qt-sdk openjdk-7-jdk openjdk-7-jre 
sudo apt-get install phonon-backend-gstreamer 
sudo apt-get install phonon-backend-vlc
  • Installing OpenNI
#!sh

cd ~
git clone https://github.com/OpenNI/OpenNI.git 
cd OpenNI 
git checkout unstable 
cd Platform/Linux/CreateRedist/ 
chmod +x RedistMaker 
./RedistMaker 
cd ../Redist/OpenNI-Bin-Dev-Linux-x64-v1.5.8.5 
sudo ./install.sh
  • Installing PCL 1.8
#!sh

cd ~/Documents/pcl 
mkdir release 
cd release 
cmake -DCMAKE_BUILD_TYPE=None -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON .. 
make
sudo make install
  1. PC Version
#!sh
  $ git clone https://github.com/introlab/rtabmap.git rtabmap
  $ cd rtabmap
  $ git pull origin master
  $ cd build
  $ cmake ..
  $ make -j4
  $ sudo make install

For PC version, you should get a runnable file in android-install directory. You can connect different kinds of RGBD and other cameras to start mapping.

  • Tango 
    #!sh

$ cd ~
$ export ANDROID_NDK="Path to android ndk"
$ export ANDROID_NATIVE_API_LEVEL=android-17
$ cd rtabmap/build
$ cmake -DCMAKE_TOOLCHAIN_FILE=../cmake_modules/android.toolchain.cmake -DBUILD_SHARED_LIBS=OFF -DBUILD_TOOLS=OFF -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=~/android_install ..
$ make
$ adb install -r app/android/bin/RTABMap-debug.apk

Make sure all you are able to cross-compile all dependencies. Cross compiling dependencies take lots of time.

Updated