Skip to content

Install.md

Latest commit

 

History

History
93 lines (62 loc) · 2.13 KB

Install.md

File metadata and controls

93 lines (62 loc) · 2.13 KB

Installation Guide

This guide provides detailed instructions for installing and building the Lightweight Stereo VIO system.

Installation Methods

We provide two installation methods:

  1. Native Build (Ubuntu 22.04) - Direct installation on your system
  2. Docker - Containerized environment (Recommended)

Method 1: Native Build (Ubuntu 22.04)

This method builds the project and all its dependencies directly on your system. It has been tested on Ubuntu 22.04.

Prerequisites

  • Ubuntu 22.04 LTS
  • C++17 Compiler (g++)
  • CMake (>= 3.10)
  • Git

Step 1: Clone the Repository

git clone https://github.com/93won/lightweight_vio.git
cd lightweight_vio

Step 2: Run the Build Script

The provided build.sh script will automatically install system dependencies (like OpenCV, Eigen, etc.) and then build the third-party libraries (Ceres, Pangolin) and the main application.

chmod +x build.sh
./build.sh

Method 2: Docker Installation (Recommended)

Using Docker is the recommended method as it provides a self-contained, consistent environment across different systems.

Prerequisites

  • Docker installed on your system
  • X11 forwarding support (for visualization)

Step 1: Install Docker

If Docker is not installed on your system:

Ubuntu/Debian:

# Install Docker
sudo apt update
sudo apt install docker.io
sudo systemctl start docker
sudo systemctl enable docker

# Add your user to docker group (optional, avoids sudo)
sudo usermod -aG docker $USER
# Log out and log back in for group changes to take effect

Other Linux distributions:

Follow the official Docker installation guide for your distribution.

Step 2: Clone the Repository

git clone https://github.com/93won/lightweight_vio.git
cd lightweight_vio

Step 3: Build the Docker Image

chmod +x docker.sh
./docker.sh build

This command builds a Docker image named lightweight-vio:latest with all necessary dependencies and source code.

Step 4: Verify Docker Build

Check that the image was created successfully:

docker images | grep lightweight-vio