ROB 530: Mobile Robotics W24 Project

Example - Car Factory

Alt Text: Image showcasing example car factory model used in project

Installation

Cloning the Repository

This repository includes multiple nested Git submodules. Use the following steps to clone it properly:

Installation via pipenv

This method was tested on:

• Ubuntu 20.04

• CMake version 3.17

🛠 Via Installation Script

We’ve created an installation script to automate setup. It does the following:

• Verifies your CMake version is compatible

• Recursively updates submodules

• Locates colmap and PoseLib via CMake

• Checks for required apt dependencies (does not install them)

• Installs asdf for managing Python versions

• Installs pipenv for environment management

• Sets up Python 3.9 and all necessary Python dependencies

• Installs LIMap

• Overrides a file in a third-party directory to ensure compatibility

Note: This is needed because LIMap does not pin Hierarchical-Localization version, which introduced changes like pathlib.Path.

🛠 Manual Install

1. Follow LIMap installation instructions (up to Python deps step, excluding OpenCV).

2. Ensure your CMake is version 3.17 or above (prepend to PATH).

3. Install pipenv:

4. Create a pipenv environment:

5. Install PyTorch & Torchvision:

6. Install LIMap dependencies:

7. Install LIMap itself:

8. If a third-party package is not found:

   bashCopyEditpipenv install -vv -e ./limap/third-party/[PACKAGE_NAME]

Installation via Anaconda

1. Create a new Conda environment:

2. Follow the steps in Via Installation Script, adjusting the CUDA version if needed (e.g., use 11.8 if you're on 12).

3. Install the package:

4. Verify installation:

Setup

📝 Files for the above example are located in the repository.

📦 TODO: Add downloader script for small (~100 image) dataset from Google Drive.

Running Examples

Run Line Mapping with Depth Maps (Fitnmerge)

Visualize 3D Line Maps

Hybrid Localization with NN Detectors