# About this Fork The aim of this fork is to provide a more portable version of dvo-slam which does not require other softwares such as ROS. c++17 recommended, for [alignment of Eigen structs](https://eigen.tuxfamily.org/dox/group__TopicUnalignedArrayAssert.html) Uses the following packages: - Eigen3 - PCL (this fork was tested on v1.11) - OpenCV - VTK # Building ## Notes on PCL Possible due to building from source, I have to manually set some definitions for the PCL package in the CMakeLists.txt for dvo_core (line 39) and dvo_slam (line 26). Please check/adjust for your own installation before attempting to build. ## 1. dvo_core 1. cd /path/to/dvo\_slam/dvo\_core/build 2. cmake -DCMAKE\_BUILD\_TYPE=Release .. 3. make ## 2. g2o If you already have a g2o installation on your computer, please skip this. Otherwise: 1. cd /path/to/dvo\_slam/g2o/build 2. cmake -DCMAKE\_BUILD\_TYPE=Release .. 3. make ## 3. dvo_slam If building with your pre-existing g2o installation, please replace lines 49-51 and 78-82 of the CMakeLists.txt with your own configuration. 1. cd /path/to/dvo\_slam/dvo\_slam/build 2. cmake -DCMAKE\_BUILD\_TYPE=Release .. 3. make # Usage ## Include directories - /path/to/dvo\_slam/dvo\_core/include - /path/to/dvo\_slam/dvo\_slam/include If using the provided g2o: - /path/to/dvo\_slam/g2o/include - /path/to/dvo\_slam/g2o/build ## Libraries Please be mindful of the order: both g2o and dvo\_core must be linked before g2o\_slam. - /path/to/dvo\_slam/dvo\_slam/build/libdvo\_slam.a - /path/to/dvo\_slam/dvo\_core/build/libdvo\_core.a - tbb, pthread If using the provided g2o: - /path/to/dvo\_slam/g2o/lib/*.so Otherwise (from the original dvo\_slam/dvo\_slam/CMakeLists.txt): - #${G2O\_CORE\_LIBRARY} - #${G2O\_SOLVER\_DENSE} - #${G2O\_SOLVER\_EIGEN} - #${G2O\_TYPES\_SLAM3D}