ORB_SLAM2_modified编译安装（高翔老师版本）

1.下载源代码

         源码连接：GitHub - gaoxiang12/ORBSLAM2_with_pointcloud_map

git clone https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map.git

2.编译准备

        解压 orbslam2_modified.zip，解压过程选择替换文件（覆盖部分ORB_SLAM2_modified文件夹下文件）

3.编译g2o_with_orbslam2

 ① 修改 g2o_with_orbslam2/CMakeList.txt

        注释部分代码

        

  ② 修改 g2o_with_orbslam2/g2o/CMakeList.txt

        注释部分代码

         

  ③ 修改 g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp

    将
    t.setRotation(t.rotation().angle()+_measurement);
    改为
    t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+_measurement));

        未经修改，将报错 error: no matching function for call to ‘g2o::SE2::setRotation (Eigen::Rotation2D<double>::Scalar

  ④ 修改 g2o_with_orbslam2/g2o/solvers/linear_solver_eigen.h

将
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
改为
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;

         未经修改，将报错 error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_ TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY

将
VectorXd probLimits(MO_NUM_ELEMS);
      for (int i = 0; i < probLimits.size(); ++i)
        probLimits[i] = (i + 1) / (double) MO_NUM_ELEMS;
改为
VectorXd probLimits;
      probLimits.resize(MO_NUM_ELEMS);
      for (int i = 0; i < probLimits.size(); ++i)
        probLimits[i] = (i + 1) / (double) MO_NUM_ELEMS;

          未经修改，将报错 error: static assertion failed: FLOATING_POINT_ARGUMENT_PASSED__ INTEGER_WAS_EXPECTED’ is not a member of ‘Eigen::internal::static_asse

 ⑤ 编译

    cd g2o_with_orbslam2
    mkdir build
    cmake ..
    make -j8
    sudo make install

 4.编译DBoW2

cd ORB_SLAM2_modified/Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make 

 5.编译ORB_SLAM2

 ① 修改 CMakeList.txt

         修改CMakeList中的各个package版本与本机版本匹配

# 均选择对应的版本号
find_package(OpenCV 3.2.0 REQUIRED)
find_package(Eigen3 3.4.0 REQUIRED)
find_package(PCL 1.7 REQUIRED)

 ② 编译

    mkdir build
    cd build
    cmake ..
    make -j8

6.编译ROS例程

 ① 修改 CMakeList.txt

find_package(PCL 1.9.1 REQUIRED )  #添加了稠密点云显示，用到了pcl库，要找到PCL库并添加进来

include_directories(
${PROJECT_SOURCE_DIR}
${PCL_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

link_directories( ${PCL_LIBRARY_DIRS} )

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
${Boost_SYSTEM_LIBRARY}
${PCL_LIBRARIES}
)

        修改包版本，并添加PCL点云库。

        未经修改，可能报错 fatal error: pcl/common/transforms.h: No such file or directory

 ② 编译

chmod +x build_ros.sh
./build_ros.sh

如果遇到报错：

Traceback (most recent call last):
File “/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py”, line 48, in
raise Exception
Exception
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message):
[rosbuild] rospack found package “ORB_SLAM2” at
“/opt/ros/kinetic/share/ORB_SLAM2”, but the current directory is
“/home/ckq/TextSLAM/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2”. You should
double-check your ROS_PACKAGE_PATH to ensure that packages are found in the
correct precedence order.
Call Stack (most recent call first):
/opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
CMakeLists.txt:4 (rosbuild_init)

cd /opt/ros/kinetic/share
sudo ln -s /home/...(具体路径).../Examples/ROS/ORB_SLAM2 /opt/ros/kinetic/share/ORB_SLAM

后记：ORB-SLAM2在线点云地图构建与ROS点云消息发布，参考熊猫飞天老师的博客：https://rupingcen.blog.csdn.net/article/details/88899163

食用时注意：

a.安装过程中，需要修改ROS包、ORB_SLAM2、g2o、DBoW2包下的CMakeLists.txt，删除其中“-march=native”（不起用优化）,否则有可能造成运行时卡死。

b.如果出现以下问题：Leaf size is too small for the input dataset. Integer indices would overflow

 修改ORB_SLAM2下/src/pointcloudmapping.cc中resolution值，将其改大即可（如下图）