RGB D RTK Install Guide

Installing RGB-D RTK

Follow this tutorial to install RGB-D RTK. It is assumed that you have installed all of its dependencies. The library should be compiled with C++17 and linked against Eigen 3.4.0. The steps below were tested on an Ubuntu 20.04 system.

1. Download RGB-D RTK source code

Download the RGB-D RTK source code. Extract the file to a known directory (e.g. /home/your_user/Lib/rgbd_rtk/)

2. Install RGB-D RTK

In the Linux terminal, enter the RGB-D RTK source code directory (step 1 above). Create the directory in which the binary files will be compiled:

mkdir Release

Enter this directory and run CMake-GUI:

cd Release
cmake-gui ..

Click Configure, select Unix Makefiles, Use default native compilers and click Finish. Wait until the initial CMake configuration for the project finishes. Then, follow these instructions

• Check the Advanced option and search for CMAKE_CXX_FLAGS. Add --std=c++17 to this variable

Click Configure and wait. Then, click Generate. Close the CMake-GUI window and back in the terminal, compile the RGB-D RTK source code:

make -j2

This process might take some time to finish. When it does, you can either install the generated libraries into the system directory with:

sudo make install

Or enter the directory with the generated binaries to run them e.g. assuming you are in /home/your_user/Lib/rgbd_rtk/Release:

cd bin
./<rgbd_rtk_program>

in which <rgbd_rtk_program> is one of the generated files. A message will be printed informing the necessary parameters for each executable.