解决ORB-SLAM在 ubuntu16 ros-kinetic下catkin_make 编译方式

写在前面

ORB-SLAM源文件是基于ROS 发布的软件，使用的编译方式是ros_build, 这样不便于工程的维护，也不便于与其他软件包的结合，所以本文提出方法，将其改为ubuntu16 ros-kinetic下catkin_make 编译方式，具体方式如下所示

安装依赖

• 多线程 Boost library : launch the different threads of our SLAM system.
  sudo apt-get install libboost-all-dev

• 图像处理 OpenCV library : manipulate images and features

• 图优化 g2o : use a modified version of g2o to perform optimizations(g2o依赖于Eigen库)
  sudo apt-get install libeigen3-dev

• 回环检测 DBoW2 : use of some components of the DBoW2 and DLib library for place recognition and feature matching

下载ORB-SLAM

• git clone到 ros-workspace的src目录下
• 将名字和工程名都改为小写字母(rospack 名称不支持大写)

将之前的ros_build编译方式改为catkin_make方式

修改CmakeLists.txt文件

cmake_minimum_required(VERSION 2.8.3)
project(orb-slam)


# include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# rosbuild_init()
# IF(NOT ROS_BUILD_TYPE)
#   SET(ROS_BUILD_TYPE Release)
# ENDIF()
# MESSAGE("Build type: " ${ROS_BUILD_TYPE})


set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

## 生成的可执行文件在工程的 bin目录下
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

## 依赖的ROS
find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
    sensor_msgs
    tf
    image_transport
    cv_bridge
    )

find_package(OpenCV 3.1 REQUIRED)
find_package(Eigen3 REQUIRED)

catkin_package()

include_directories(
    ${catkin_INCLUDE_DIRS}
    ${PROJECT_SOURCE_DIR}/include
    )

include_directories(
  ${catkin_INCLUDE_DIRS}  
  ${PROJECT_SOURCE_DIR}
  ${EIGEN3_INCLUDE_DIR}
)

## 编译生成可执行文件 
# rosbuild_add_executable(${PROJECT_NAME}
add_executable( ${PROJECT_NAME}
src/main.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FramePublisher.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapPublisher.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
)
# rosbuild_add_boost_directories()
# rosbuild_link_boost(${PROJECT_NAME} thread)

target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

添加package.xml文件

<?xml version="1.0"?>
<package>
  <name>orb-slam</name>
  <version>0.0.0</version>
  <description>The ORB-SLAM package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="***@gmail.com">dvorak</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>

  <!-- The *_depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use run_depend for packages you need at runtime: -->
  <!--   <run_depend>message_runtime</run_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>sensor_msgs</build_depend>
  <build_depend>image_transport</build_depend>
  <build_depend>cv_bridge</build_depend>

  <run_depend>roscpp</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>sensor_msgs</run_depend>
  <run_depend>image_transport</run_depend>
  <run_depend>cv_bridge</run_depend>
  


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- You can specify that this package is a metapackage here: -->
    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

修改几行文件

src/ORBextractor.cc 添加头文件
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>

Thirdparty/g2o/g2o/solvers/linea_solver_eigen.h 修改
// typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;

至此，就可以使用catkin_make 编译ORB-SLAM了