ORB_SLAM2尝试

最新推荐文章于 2022-02-23 17:31:16 发布

Capta1nY

最新推荐文章于 2022-02-23 17:31:16 发布

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分类专栏： ORB实验文章标签： ORB

本文链接：https://blog.csdn.net/CaptainYJJ/article/details/83500766

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打算在笔记本的摄像头上先跑下，编译ros包时出现问题

~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ make -j4
[  0%] Built target rospack_genmsg_libexe
[  0%] Built target rosbuild_precompile
Scanning dependencies of target Mono
[ 11%] Linking CXX executable ../RGBD
[ 22%] Linking CXX executable ../Stereo
[ 55%] Built target MonoAR
[ 66%] Building CXX object CMakeFiles/Mono.dir/src/ros_mono.cc.o
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:215: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
CMakeFiles/Stereo.dir/build.make:215: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
[ 77%] Linking CXX executable ../Mono
[ 77%] Built target Mono
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

原因是缺少lboos的库文件，解决如下：

增加-lboost_system

如下：

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)
参考链接：https://github.com/raulmur/ORB_SLAM2/issues/494

想要实时运行时，需要更改对应的源文件，其实很简单，例如你要使用d435,吧对应的订阅的话题更改成d435发布的话题即可。

具体目录为ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc。

还需注意的是，跑实时的orb_slam2需要相机的标定文件，需要提前标定，然后参考给的华硕的标定文件进行修改。我偷懒直接用的他给的，然后准备在turtlebot上运行，标定下kinect1吧，2这个大块头主要是需要额外的供电，以后找方案安到机器人上吧