Running ICE-BA

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1. Installation

(1) boost

$ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

(2) Eigen

$ sudo apt-get install libeigen3-dev

(3) Gflags

$ git clone https://github.com/gflags/gflags
$ mkdir build
$ cd build
$ cmake .. -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=ON -DBUILD_gflags_LIB=ON
$ make -j2
$ sudo make install

(4) Glog

$ git clone https://github.com/google/glog
$ export LDFLAGS='-L/usr/local/lib'
$ ./autogen.sh
$ ./configure 
$ make -j2 
$ sudo make install

(5) OpenCV [3]

$ cd ~
$ wget -O opencv.zip https://github.com/Itseez/opencv/archive/4.3.0.zip
$ unzip opencv.zip
$ cd opencv
$ wget -O opencv_contrib.zip https://github.com/Itseez/opencv_contrib/archive/4.3.0.zip
$ unzip opencv_contrib.zip
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_GENERATE_PKGCONFIG=ON -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.3.0/modules
$ make -j2
$ sudo make install

*You can also download opencv source from : [4-5]

[Configuration]
$ sudo gedit /etc/ld.so.conf.d/opencv.conf
Add: /usr/local/lib

$ sudo ldconfig
$ sudo gedit /etc/bash.bashrc
Add: PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH

$ source /etc/bash.bashrc

(6) Yaml

Download and unzip form: https://github.com/jbeder/yaml-cpp/releases
$ mkdir build 
$ cd build 
$ cmake -DBUILD_SHARED_LIBS=ON ..
$ make -j2
$ sudo make install

(7) brisk

$ git clone https://github.com/gwli/brisk
$ cd brisk 
$ mkdir build 
$ cd build 
$ cmake -DCMAKE_BUILD_TYPE=Release .. 
$ make -j2
$ sudo make install

2. Compile

$ cd ice-ba
$ chmod +x build.sh
$ ./build.sh

3. Run (ex: EuRoC dataset)

./run_ice_ba_mono.sh

* Set your own EuRoC_PATH path 
* For successfully running ICE-BA using ROS version [6], you should build catkin simple beforehand [7]

Reference:
[1] https://github.com/baidu/ICE-BA
[2] csdn blog
[3] https://docs.opencv.org/4.3.0/d7/d9f/tutorial_linux_install.html
[4] https://opencv.org/releases/page/4/
[5] https://github.com/opencv/opencv_contrib/releases
[6] https://github.com/wangyuanbiubiubiu/ICE-BA-ros
[7] https://github.com/catkin/catkin_simple 

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