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Current instructions are tested in Ubuntu 24.04 with ROS Jazzy. It should work with Ubuntu 22.04 and ROS Humble.

PCL

Install pcl libraries

sudo apt install libpcl-dev

Glog, Gflags, BLAS & LAPACK, Eigen3

Install Glog, Gflags, BLAS & LAPACK, and Eigen3

sudo apt install libgoogle-glog-dev libgflags-dev libblas-dev liblapack-dev libatlas-base-dev libeigen3-dev

SuiteSparse and OpenCV

sudo apt install libsuitesparse-dev libopencv-dev

ROS Jazzy

Please follow installation instructions for ROS Jazzy. Follow the ROS Jazzy installation guide and install ROS Jazzy full desktop.

You will need the additional package pcl-ros, cv-bridge and tf2-sensor-msgs.

sudo apt install ros-jazzy-pcl-ros ros-jazzy-tf2-sensor-msgs

Brisk

Install brisk features

wget https://www.doc.ic.ac.uk/~sleutene/software/brisk-2.0.8.zip
unzip brisk-2.0.8.zip
cd brisk
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8
sudo make install

Build SVIN

Create ros workspace and then build project:

   mkdir -p ~/svin_ws/src
   cd ~/svin_ws/src
   git clone https://github.com/AutonomousFieldRoboticsLab/SVIn.git     
   cd ..
   colcon build  --event-handlers console_direct+

You can just use

colcon build

for silent build.