Versions

• OpenCV and opencv_contrib 3.3.1 copy boostdesc_bgm.i ... to Extern/opencv_contrib/modules/xfeatures2d/src
• gtsam git checkout 4.1.1
• Pangolin git checkout v0.6

Prepare

• Vocabulary http://www.dropbox.com/s/lyo0qgbdxn6eg6o/ORBvoc.zip?dl=1

cd vocabulary
wget -c http://www.dropbox.com/s/lyo0qgbdxn6eg6o/ORBvoc.zip?dl=1

Get External Repos

cd Extern
wstool init
wstool merge ../kimera.rosinstall
wstool update

# Build
make build

# Run
make up