OAK-D Kimera Experiment

This is an experiment in getting Kimera to work with an OAK-D.

At the moment all SLAM processing is done on the host, while we wait for custom nodes to be added to OAK-D's Gen2 pipeline.

Note: Currently seems to not be able to find any samples, which mean's it's not working quite yet.

TODO: More info

Build

1. Download ORB_SLAM3 submodule depthai-core and it's submodules:

   git submodule init
   cd depthai-core
   git submodule update --init --recursive
   

2. Install Kimera, following their install instructions. I had a lot of difficulty with this, so make sure:

   • gtsam is checked out to ee069286b447ff58b809423cc77c777a02abdfe5
   • if you accidentally installed a gtsam version other than the one above you may have an incompatible shared library in /usr/local/lib/libgtsam*. Kimera needs libgtsam.so.4.0.2, so you may need to change the symbolic link of libgtsam.so.4 to point to this rather than some other version. Do this for libgtsam_unstable* as well.
   • if (like me, for some ridiculous reason) have multiple OpenCV library versions installed make sure the correct version is specified in the CMakeLists.txt for DBoW2 and Kimera-VIO
   • fix Kimera-VIO visualizer, which seems to be a little broken for me, fix is here

   When making Kimera-VIO itself you can use the following to also install the library, for use in this repo.

   sudo make -j $(nproc) install 
   

3. Download the vocab file and unzip into vocabulary link to file

4. Build the project:

   mkdir build && cd build
   cmake ..
   make -j $(nproc)
   

5. From the root of this repo run the experiment:

   ./oakd_kimera.bash