base on PLVS is a real-time SLAM system with points, lines, volumetric mapping and 3D unsupervised incremental segmentation. # PLVS II ### v0.2.1 Author: [Luigi Freda](https://www.luigifreda.com) PLVS is a real-time system that combines sparse SLAM, volumetric mapping, and 3D unsupervised incremental segmentation. PLVS stands for **Points**, **Lines**, **Volumetric mapping**, and **Segmentation**. <p align="center"> <img src="Images/PLVS-lab.png" alt="PLVS lab" max-width="585" border="1"/> <img src="Images/PLVS-ar2.gif" alt="PLVS augmented reality" height="180" border="1"/> <img src="Images/PLVS-details.gif" alt="PLVS details" height="180" border="1"/> <img src="Images/PLVS-Points-Lines-Vol-Seg.png" alt="PLVS details" max-width="695" border="1"/> </p> PLVS is available in two different versions. - **PLVS I**: hosted in the branch `plvs1`. It is based on [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2), and supports mono, stereo, and RGB-D cameras. - **PLVS II**: hosted in the `master` branch. It is based on [ORB-SLAM3](https://github.com/UZ-SLAMLab/ORB_SLAM3), and also supports camera systems provided with IMUs. This [document](./new_features.md) provides a list of the **new features** provided by PLVS. For more information and videos, please visit this research [page](https://www.luigifreda.com/research/plvs-an-open-source-rgb-d-and-stereo-slam-for-volumetric-reconstruction-and-3d-incremental-segmentation/) or refer to the following **document**: **[PLVS: A SLAM System with Points, Lines, Volumetric Mapping, and 3D Incremental Segmentation](https://arxiv.org/pdf/2309.10896.pdf)**  *Luigi Freda* **Note**: PLVS is an active project. This *README* is under construction and will be updated with further information and details as new improvements are released. Stay tuned! ## Quick start The following procedures were tested under **Ubuntu 20, 22, 24**. ROS support is provided only under **noetic** with **Ubuntu 20** (see [here](#ros-build)). If you don't have Ubuntu 20 with noetic, check [rosdocker](https://github.com/luigifreda/rosdocker) and use the *noetic* or *noetic_cuda* containers. **NOTE**: At present, under Ubuntu 24.04, `BUILD_WITH_MARCH_NATIVE` is set to `OFF`. Enabling `--march=native` optimization brings some problems probably due to different default building options in the native `libpcl`. ### Build 1. Install basic dependencies: `$ ./install_dependencies.sh` 2. Install *OpenCV* in a local folder: `$ ./install_local_opencv.sh` 3. Build the *PLVS* framework: `$ ./build.sh` It should be easy to adapt the above procedures if you have a different OS version. If you want to skip step 2, you can set the variables `OpenCV_DIR` and `OPENCV_VERSION` in `config.sh` with your local *OpenCV* path and version, respectively. However, this is not recommended. ### ROS build Only under **ROS noetic** you can run: `$ ./build_ros_catkin.sh` This command builds the *PLVS* ROS workspace and deploys it in the `ros_ws` folder. ### Running the examples Once everything is built, you can enter in the `Scripts` folder and test the different examples. For instance you can configure and run: - `$ ./run_tum_rgbd.sh` for TUM RGB-D datasets - `$ ./run_kitti_stereo.sh` for KITTI datasets - `$ ./run_euroc_stereo_inertial.sh` for Euroc datasets, stereo + inertial - `$ ./run_euroc_stereo.sh` for Euroc datasets, only stereo - `$ ./run_tum_vi_stereo.sh` for TUM VI datasets, only stereo - `$ ./run_tum_vi_stereo_inertial.sh` for TUM VI datasets, stereo + inertial In each of the above scripts, you have to configure *(1)* the `DATASET_BASE_FOLDER`, *(2)* the specific `DATASET` of interest, and *(3)* the used `YAML` configuration file. In particular, each `YAML` configuration file shows different sections with commented options. For a quick overview of the **new features** and their corresponding `YAML` options refer to [new_features.md](./new_features.md). If you built the ROS workspace, you can use the scripts `ros_xterm*` to launch the PLVS ROS nodes. For instance, with the TUM datasets, run `ros_xterm_tum_rgbd.sh`. ## Contributing We welcome contributions to the codebase through pull requests, bug reports, comments, and feature proposals via issues. For any questions or feedback, please contact *luigifreda(at)gmail(dot)com*. Thank you! ## License PLVS is released under [GPLv3 license](./LICENSE). PLVS contains some modified libraries, each one coming with its license. Where nothing is specified, a GPLv3 license applies to the software. If you use PLVS in your projects, please cite our above-mentioned document. ## Credits * The *PLVS I* and *PLVS II* frameworks are based on [ORB-SLAM2](https://github.com/raulmur/ORB_SLAM2) and [ORB-SLAM3](https://github.com/UZ-SLAMLab/ORB_SLAM3) respectively. Many thanks to their Authors for their great work and contributions to the Research and open-source communities. ", Assign "at most 3 tags" to the expected json: {"id":"4061","tags":[]} "only from the tags list I provide: [{"id":77,"name":"3d"},{"id":89,"name":"agent"},{"id":17,"name":"ai"},{"id":54,"name":"algorithm"},{"id":24,"name":"api"},{"id":44,"name":"authentication"},{"id":3,"name":"aws"},{"id":27,"name":"backend"},{"id":60,"name":"benchmark"},{"id":72,"name":"best-practices"},{"id":39,"name":"bitcoin"},{"id":37,"name":"blockchain"},{"id":1,"name":"blog"},{"id":45,"name":"bundler"},{"id":58,"name":"cache"},{"id":21,"name":"chat"},{"id":49,"name":"cicd"},{"id":4,"name":"cli"},{"id":64,"name":"cloud-native"},{"id":48,"name":"cms"},{"id":61,"name":"compiler"},{"id":68,"name":"containerization"},{"id":92,"name":"crm"},{"id":34,"name":"data"},{"id":47,"name":"database"},{"id":8,"name":"declarative-gui "},{"id":9,"name":"deploy-tool"},{"id":53,"name":"desktop-app"},{"id":6,"name":"dev-exp-lib"},{"id":59,"name":"dev-tool"},{"id":13,"name":"ecommerce"},{"id":26,"name":"editor"},{"id":66,"name":"emulator"},{"id":62,"name":"filesystem"},{"id":80,"name":"finance"},{"id":15,"name":"firmware"},{"id":73,"name":"for-fun"},{"id":2,"name":"framework"},{"id":11,"name":"frontend"},{"id":22,"name":"game"},{"id":81,"name":"game-engine "},{"id":23,"name":"graphql"},{"id":84,"name":"gui"},{"id":91,"name":"http"},{"id":5,"name":"http-client"},{"id":51,"name":"iac"},{"id":30,"name":"ide"},{"id":78,"name":"iot"},{"id":40,"name":"json"},{"id":83,"name":"julian"},{"id":38,"name":"k8s"},{"id":31,"name":"language"},{"id":10,"name":"learning-resource"},{"id":33,"name":"lib"},{"id":41,"name":"linter"},{"id":28,"name":"lms"},{"id":16,"name":"logging"},{"id":76,"name":"low-code"},{"id":90,"name":"message-queue"},{"id":42,"name":"mobile-app"},{"id":18,"name":"monitoring"},{"id":36,"name":"networking"},{"id":7,"name":"node-version"},{"id":55,"name":"nosql"},{"id":57,"name":"observability"},{"id":46,"name":"orm"},{"id":52,"name":"os"},{"id":14,"name":"parser"},{"id":74,"name":"react"},{"id":82,"name":"real-time"},{"id":56,"name":"robot"},{"id":65,"name":"runtime"},{"id":32,"name":"sdk"},{"id":71,"name":"search"},{"id":63,"name":"secrets"},{"id":25,"name":"security"},{"id":85,"name":"server"},{"id":86,"name":"serverless"},{"id":70,"name":"storage"},{"id":75,"name":"system-design"},{"id":79,"name":"terminal"},{"id":29,"name":"testing"},{"id":12,"name":"ui"},{"id":50,"name":"ux"},{"id":88,"name":"video"},{"id":20,"name":"web-app"},{"id":35,"name":"web-server"},{"id":43,"name":"webassembly"},{"id":69,"name":"workflow"},{"id":87,"name":"yaml"}]" returns me the "expected json"