1.U2004安装
(1)Basalt主页：https://vision.in.tum.de/research/vslam/basalt
(2)Basalt源码：https://gitlab.com/VladyslavUsenko/basalt && https://gitlab.com/VladyslavUsenko/basalt-headers
(3)Basalt文档：https://vladyslavusenko.gitlab.io/basalt-headers
(4)DSCM主页：https://vision.in.tum.de/research/vslam/double-sphere
(9)Readme.md中提供了官源安装和编译安装两种方式，这里采用编译安装的方式：
1)解压源码到/root/app/basalt。
2)执行scripts/install_deps.sh安装依赖。
3)新建并终端进入/root/app/basalt/out执行cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo和make -j4。
2.Win10安装
2.1下载源码
(1)大致过程：下载源码重写CMakeLists.txt来编译，同时下载没有的第三库，主要是bz2和lz2。
(2)下载Baslat：从https://gitlab.com/VladyslavUsenko/basalt下载解压到D:/app/basalt。
(3)下载安装BZ2：从https://github.com/philr/bzip2-windows下载发布版并提取头文件和静态库到D:/app/basalt/thirdparty/bz2lz4。
(4)下载安装LZ4：从https://github.com/lz4/lz4下载(发布版有问题)编译静态工程liblz4并复制到D:/app/basalt/thirdparty/bz2lz4。
(5)管理已有的第三方库：删除OpenGV、CLI11、Pangolin，提取basalt-headers的纯头文件到指定位置。
2.2修改Basalt头文件
(1)utils->sassert.h：用__FUNCTION__替换__PRETTY_FUNCTION__、用(x)替换__builtin_expect(x, 1)、注释__attribute__((noreturn))
(2)utils->sophus_utils.hpp：添加#ifndef M_PI #define M_PI 3.1415926535897932384626433832795 #endif
(3)camera->xxx_camera.hpp：替换所有private为public、重载project实现纯指针输入输出且三维坐标为三维。
(4)camera->generic_camera.hpp：增加#include <cscv/ModelCamera.hpp>、增加public使内部类型能被外部使用、增加函数成员setParam、追加VarianT自定义模型: XXXCM
(5)serialization->headers_serialization.h：定义宏CerealXXCM对所有XXXCM并使用之
2.3修改Basalt主文件
(1)批量操作：分别用uint8_t替换u_int8_t、用uint16_t替换u_int16_t、删除所有.git文件。
(2)rosbag->lz4s.c：添加#ifdef min #undef min #undef max #endif
(3)rosbag->console_bridge_export.h：删除__attribute__((visibility("hidden")))、用__declspec(dllexport)替换__attribute__((visibility("default")))、用__declspec(deprecated)替换__attribute__ ((__deprecated__))
(4)apriltag->MathUtil.h：添加#ifndef M_PI #define M_PI 3.1415926535897932384626433832795 #endif
(5)basalt->dataset_io_rosbag.h：添加#ifdef min #undef min #undef max #endif
(6)basalt->dataset_io.cpp：需要进一步解决此问题，当前解决方案是添加以下代码
#include "../../thirdparty/ros/ros_comm/tools/rosbag_storage/src/bag.cpp"
#include "../../thirdparty/ros/ros_comm/tools/rosbag_storage/src/view.cpp"
#include "../../thirdparty/ros/ros_comm/tools/rosbag_storage/src/message_instance.cpp"
(7)basalt->marg_data_io.cpp：用std::string filename = p.path().filename().string()替换std::string filename = p.path().filename()
(8)basalt->spline_linearize.h：注释comment #include <tbb/tbb_stddef.h>
双目相机标定测试：进入D:/app/basalt/out执行basalt_calibrate --dataset-path ../data/dataset-calib-cam3_512_16.bag --dataset-type bag --aprilgrid ../data/aprilgrid_6x6.json --result-path ../data/dataset-calib-cam3_512_16 --cam-types ds ds 或 basalt_calibrate --dataset-path ../data/dataset-calib-cam3_512_16 --dataset-type euroc --aprilgrid ../data/aprilgrid_6x6.json --result-path ../data/dataset-calib-cam3_512_16/rst --cam-types ds ds
IMU相机标定测试：进入D:/app/basalt/out执行basalt_calibrate_imu --dataset-path ../data/dataset-calib-imu1_512_16.bag --dataset-type bag --aprilgrid ../data/aprilgrid_6x6.json --result-path ../data/dataset-calib-imu1_512_16 --gyro-noise-std 0.000282 --accel-noise-std 0.016 --gyro-bias-std 0.0001 --accel-bias-std 0.001 或 basalt_calibrate_imu --dataset-path ../data/dataset-calib-imu1_512_16 --dataset-type bag --aprilgrid ../data/aprilgrid_6x6.json --result-path ../data/dataset-calib-imu1_512_16/rst --gyro-noise-std 0.000282 --accel-noise-std 0.016 --gyro-bias-std 0.0001 --accel-bias-std 0.001
▲：临时删除所有.gitignore后进行git add再恢复，否则有些文件无法加入。
3.编译脚本
1 cmake_minimum_required(VERSION 3.10) 2 project(basalt) 3 4 set(CMAKE_CXX_STANDARD 17) 5 set(CMAKE_CXX_STANDARD_REQUIRED ON) 6 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/out/$<0:>) 7 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/out/$<0:>) 8 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/out/$<0:>) 9 add_compile_options(-MD /bigobj) 10 set(CMAKE_SUPPRESS_REGENERATION ON)# not create ZERO_CHECK project for msbuild 11 12 #1.Qt5 13 #include_directories(D:/app/qt/5.9.9/msvc2015_64/include) 14 #file(GLOB Qt5_LIBS LIST_DIRECTORIES false D:/app/qt/5.9.9/msvc2015_64/lib/Qt5*.lib) #QtRelease #libGLESv2.lib and libGLESv2d.lib conflict with QGLViewer and pangolin 15 #file(GLOB Qt5_LIBS_DBG LIST_DIRECTORIES false D:/app/qt/5.9.9/msvc2015_64/lib/Qt5*d.lib) #QtDebug #Qt5Bootstrap.lib cause errors 16 #list(REMOVE_ITEM Qt5_LIBS ${Qt5_LIBS_DBG} D:/app/qt/5.9.9/msvc2015_64/lib/Qt5Bootstrap.lib)#remove QtDebug and Qt5Bootstrap 17 #list(APPEND Qt5_LIBS D:/app/qt/5.9.9/msvc2015_64/lib/Qt5Gamepad.lib D:/app/qt/5.9.9/msvc2015_64/lib/Qt53DQuickScene2D.lib) #add removed items 18 #list(APPEND Qt5_LIBS glu32.lib opengl32.lib Ws2_32.lib)#add opengl by find_package 19 #add_compile_definitions(QT_WIDGETS_LIB) #For some QtLibs 20 21 #2.Eigen3 Gflags Glog Ceres Sophus CLI11 Spdlog Cereal 22 include_directories(D:/app/eigen/out/install/include/eigen3) 23 include_directories(D:/app/gflags/out/install/include) 24 include_directories(D:/app/glog/out/install/include) 25 include_directories(D:/app/ceres/out/install/include)#copy headers of Sophus&CLI11&Spdlog&Cereal here 26 file(GLOB Gflags_LIBS LIST_DIRECTORIES false D:/app/gflags/out/install/lib/gflags*.lib) 27 file(GLOB Glog_LIBS LIST_DIRECTORIES false D:/app/glog/out/install/lib/glog*.lib) 28 set(Ceres_LIBS D:/app/ceres/out/install/lib/ceres.lib shlwapi.lib)#Add macros and shlwapi.lib by find_package(Ceres REQUIRED HINTS D:/app/ceres/out/install/CMake) 29 add_compile_definitions(GFLAGS_DLL_DECLARE_FLAG= GFLAGS_DLL_DEFINE_FLAG= GLOG_NO_ABBREVIATED_SEVERITIES GOOGLE_GLOG_DLL_DECL= GFLAGS_IS_A_DLL=0) 30 31 #3.TBB OpenCV 32 include_directories(D:/app/tbb/include) 33 include_directories(D:/app/opencv/out/install/include) 34 file(GLOB TBB_LIBS LIST_DIRECTORIES false D:/app/tbb/lib/intel64/vc14/tbb*.lib) 35 file(GLOB OpenCV_LIBS LIST_DIRECTORIES false D:/app/opencv/out/install/x64/vc16/lib/opencv*.lib) 36 37 #4.ROS2 ROS2EX Webots #For ROS2: some denpendencies must be found by find_package and all of them are located at ~/ros2/share 38 #include_directories(D:/app/ros2/include D:/app/ros2ex/out/install/include) 39 #include_directories(D:/app/webots/include/controller/cpp D:/app/webots/include/controller/c) 40 #file(GLOB ROS2_LIBS LIST_DIRECTORIES false D:/app/ros2/lib/*.lib) 41 #file(GLOB ROS2EX_LIBS LIST_DIRECTORIES false D:/app/ros2ex/out/install/lib/*.lib) 42 #file(GLOB Webots_LIBS LIST_DIRECTORIES false D:/app/webots/lib/controller/*.lib) 43 44 #5.Octomap OpenGV 45 include_directories(D:/app/opengv/out/install/include) 46 file(GLOB OpenGV_LIBS LIST_DIRECTORIES false D:/app/opengv/out/install/lib/*.lib) 47 48 #6.Boost Pangolin(not used) 49 include_directories(D:/app/boost) 50 include_directories(D:/app/pangolin/out/install/include) 51 file(GLOB Boost_LIBS LIST_DIRECTORIES false D:/app/boost/lib64-msvc-14.2/*-vc142-mt-x64-1_75.lib) 52 set(Pangolin_LIBS opengl32.lib glu32.lib mf.lib mfplat.lib mfreadwrite.lib mfuuid.lib strmiids.lib 53 D:/app/pangolin/out/install/lib/glew.lib 54 D:/app/pangolin/out/install/lib/jpeg.lib 55 D:/app/pangolin/out/install/lib/libpng16_static.lib 56 D:/app/pangolin/out/install/lib/zlibstatic.lib 57 D:/app/pangolin/out/install/lib/pangolin.lib)#from find_package(Pangolin) 58 59 #7.BZ2LZ4 60 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/bz2lz4) 61 file(GLOB BZ2LZ4_LIBS LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/thirdparty/bz2lz4/*.lib) 62 63 #8.AllLibs 64 set(ALL_LIBS ${Qt5_LIBS} ${Gflags_LIBS} ${Glog_LIBS} ${Ceres_LIBS} 65 ${TBB_LIBS} ${OpenCV_LIBS} ${ROS2_LIBS} ${ROS2EX_LIBS} ${Webots_LIBS} 66 ${Octomap_LIBS} ${OpenGV_LIBS}) 67 link_libraries(${ALL_LIBS} ${Boost_LIBS} ${Pangolin_LIBS} ${BZ2LZ4_LIBS}) 68 message("ALL_LIBS: ${ALL_LIBS}") 69 70 #Rosbag(with Boost BZ2 LZ2 ???) 71 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/include) 72 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/console_bridge/include) 73 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/roscpp_core/cpp_common/include) 74 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/roscpp_core/rostime/include) 75 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/roscpp_core/roscpp_serialization/include) 76 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/roscpp_core/roscpp_traits/include) 77 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/ros_comm/utilities/roslz4/include) 78 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/ros/ros_comm/tools/rosbag_storage/include) 79 file(GLOB CONSOLE_BRIDGE_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ros/console_bridge/src/*.cpp) 80 file(GLOB CPP_COMMON_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ros/roscpp_core/cpp_common/src/*.cpp) 81 file(GLOB ROSCPP_SERIALIZATION_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ros/roscpp_core/roscpp_serialization/src/*.cpp) 82 file(GLOB ROSTIME_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ros/roscpp_core/rostime/src/*.cpp) 83 file(GLOB ROSBAG_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ros/ros_comm/tools/rosbag_storage/src/*.cpp) 84 file(GLOB ROSLZ4_SRCS ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/ros/ros_comm/utilities/roslz4/src/[a-z]*.c) 85 add_library(aosbag STATIC ${ROSBAG_SRCS} ${ROSTIME_SRCS} ${CPP_COMMON_SRCS} ${ROSCPP_SERIALIZATION_SRCS} ${ROSLZ4_SRCS} ${CONSOLE_BRIDGE_SRCS} ${CMAKE_SOURCE_DIR}/CMakeLists.txt) 86 87 #Apriltag(with OpenCV) 88 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/apriltag/include) 89 include_directories(${CMAKE_SOURCE_DIR}/thirdparty/apriltag/ethz_apriltag2/include) 90 file(GLOB APRILTAG_SRCS LIST_DIRECTORIES false ${CMAKE_SOURCE_DIR}/thirdparty/apriltag/ethz_apriltag2/src/*.cc) 91 add_library(apriltag STATIC ${APRILTAG_SRCS} ${CMAKE_SOURCE_DIR}/thirdparty/apriltag/src/apriltag.cpp) 92 93 #Basalt 94 include_directories(${CMAKE_SOURCE_DIR}/include) 95 #include_directories(${CMAKE_SOURCE_DIR}/thirdparty/basalt-headers/include)#put into ceres installation 96 #include_directories(${CMAKE_SOURCE_DIR}/thirdparty/basalt-headers/thirdparty/cereal/include)#put into ceres installation 97 add_library(basalt STATIC 98 ${CMAKE_SOURCE_DIR}/src/io/dataset_io.cpp 99 ${CMAKE_SOURCE_DIR}/src/io/marg_data_io.cpp 100 ${CMAKE_SOURCE_DIR}/src/calibration/aprilgrid.cpp 101 ${CMAKE_SOURCE_DIR}/src/calibration/calibraiton_helper.cpp 102 ${CMAKE_SOURCE_DIR}/src/calibration/vignette.cpp 103 ${CMAKE_SOURCE_DIR}/src/utils/vio_config.cpp 104 ${CMAKE_SOURCE_DIR}/src/optical_flow/optical_flow.cpp 105 ${CMAKE_SOURCE_DIR}/src/vi_estimator/keypoint_vio.cpp 106 ${CMAKE_SOURCE_DIR}/src/vi_estimator/keypoint_vio_linearize.cpp 107 ${CMAKE_SOURCE_DIR}/src/vi_estimator/keypoint_vo.cpp 108 ${CMAKE_SOURCE_DIR}/src/vi_estimator/vio_estimator.cpp 109 ${CMAKE_SOURCE_DIR}/src/vi_estimator/ba_base.cpp 110 ${CMAKE_SOURCE_DIR}/src/vi_estimator/nfr_mapper.cpp 111 ${CMAKE_SOURCE_DIR}/src/vi_estimator/landmark_database.cpp 112 ${CMAKE_SOURCE_DIR}/src/utils/keypoints.cpp) 113 target_link_libraries(basalt aosbag apriltag) 114 115 #CalibBinoCam 116 add_executable(basalt_calibrate src/calibrate.cpp src/calibration/cam_calib.cpp) 117 target_link_libraries(basalt_calibrate basalt) 118 119 #CalibImuCam 120 add_executable(basalt_calibrate_imu src/calibrate_imu.cpp src/calibration/cam_imu_calib.cpp) 121 target_link_libraries(basalt_calibrate_imu basalt) 122 123 #RunVIOSim 124 add_executable(basalt_vio_sim src/vio_sim.cpp) 125 target_link_libraries(basalt_vio_sim basalt) 126 127 #RunMapperSim 128 add_executable(basalt_mapper_sim src/mapper_sim.cpp) 129 target_link_libraries(basalt_mapper_sim basalt) 130 131 #RunMapperSimNaive 132 add_executable(basalt_mapper_sim_naive src/mapper_sim_naive.cpp) 133 target_link_libraries(basalt_mapper_sim_naive basalt) 134 135 #RunMapper 136 add_executable(basalt_mapper src/mapper.cpp) 137 target_link_libraries(basalt_mapper basalt) 138 139 #RunOptFlow 140 add_executable(basalt_opt_flow src/opt_flow.cpp) 141 target_link_libraries(basalt_opt_flow basalt) 142 143 #RunVIO 144 add_executable(basalt_vio src/vio.cpp) 145 target_link_libraries(basalt_vio basalt) 146 147 #RunTimeSync 148 add_executable(basalt_time_alignment src/time_alignment.cpp) 149 target_link_libraries(basalt_time_alignment basalt) 150 151 #RunKittiEval 152 add_executable(basalt_kitti_eval src/kitti_eval.cpp) 153 154 #Installation 155 install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment basalt 156 RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin 157 LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib 158 ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)