目录
一、ORBSLAM3源码下载
ORBSLAM3-Github源码下载地址：
二、环境配置
2.1 C++11 or C++0x Compiler
首先需安装 gcc 和 g++ 环境，安装之前查看是否有安装,打开终端使用命令:
sudo apt-get install gcc
sudo apt-get install g++测试 c++
创建一个.cpp文件(在终端中输入touch test.cpp)，打开并输入
#include <iostream>
using namespace std;
int main()
{
cout << "HELLO WORLD!" << endl;
return 0;
}
在“test.cpp”文件目录中打开终端并输入：
g++ test.cpp -o test.out通过以上编译得到test.out文件以后,可以直接把这个文件拖到Terminal上,通过按回车键运行,可以得到结果：HELLO WORLD! 。
这证明我们已经完成了ubuntu下c++环境的搭建！！
2.2 Pangolin 安装
2.2.1 安装依赖项
在终端依次输入：
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libpython2.7-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev
libswscale-dev libavdevice-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libpng16-dev libtiff5-dev libopenexr-dev
sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev waylandprotocols！注意：安装某些依赖项遇到问题时，可尝试切换镜像源.常用镜像源：阿里云、清华和中科大等
切换镜像源之后，使用sudo apt-get update进行下载地址更新。
2.2.2 下载Pangolin
在Pangolin-Github上下载源码：
解压缩后，打开Pangolin文件夹，打开终端
mkdir build
cd build //可以直接打开文件夹，而省略此步骤
cmake ..
sudo make
sudo make install2.2.3 测试Pangolin
cd build/examples/HelloPangolin
cmake .
make
./HelloPangolin若安装成功则在终端显示下图
2.3 OpenCV安装
2.3.1 下载OpenCV
在opencv官网下载：OpenCV下载网站
点击Sources下载自己需要的版本。（以OpenCV3.4为例）
下载完成解压缩后，进入文件夹，在终端中输入：
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
#cmake成功后，生成makefile文件，使用make进行编译
sudo make
#编译成功后，进行安装
sudo make install2.3.2 OpenCV配置环境
sudo gedit /etc/ld.so.conf.d/opencv.conf
#打开opencv.conf文件，在文末添加
/usr/local/lib
#保存使路径生效
sudo ldconfig
#编辑bash环境文件
sudo gedit /etc/bash.bashrc
#文末添加
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH
#保存使配置生效
source /etc/bash.bashrc
#更新
sudo updatedb！检查自己的OpenCV版本：
pkg-config --modversion opencv2.4 Eigen3安装
2.4.1 在Eigen3官网下载
官网下载地址：Eigen3.4.0下载地址 （tar.gz）
2.4.2 Eigen安装过程
在Eigen文件夹中打开终端
mkdir build
cd build
sudo cmake ..
sudo make install
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
#移动头文件！注意：在很多程序中include时经常使用#include <Eigen/Dense>；否则系统无法默认搜索到，build有时侯也会找不到，所以将头文件移动到“/usr/local/include”中。
2.4.3 测试Eigen
新建test_Eigen.cpp,打开。
#include <iostream>
#include <Eigen/Dense>
using namespace Eigen;
using namespace Eigen::internal;
using namespace Eigen::Architecture;
using namespace std;
int main()
{
Vector4d test1;
test1<< 1,2,3,4;
cout<<"test=\n"<<test1<<endl;
cout<<"Test Success!"<<endl;
return 0;
}在终端打开：
g++ test-Eigen.cpp -o test-Eigen
./test-Eigen
2.5 Python安装
在终端输入：
sudo apt install libpython2.7-dev三、ORBSLAM3安装
在ORBSLAM3文件夹中打开终端，运行：
chmod +x build.sh //给 build.sh赋予可允许权限
./build.sh //自动化脚本，分别编译脚本中内容没有提示错误则安装成功。
四、运行RGBD-TUM数据集
数据集下载网址: https://vision.in.tum.de/data/datasets/rgbd-dataset/download
解压缩到ORBSLAM3文件夹中，以rgbd_dataset_freiburg1_desk为例。
4.1 下载配准文件associate.py
（它从rgb.txt文件和 depth.txt 文件中读取时间戳，并通过查找最佳匹配来连接它们。）
或者直接自己创建一个associate.py，粘贴进去。(将文件放在/ORB_SLAM2/Examples/RGB-D目录里面)
import argparse
import sys
import os
import numpy
def read_file_list(filename):
"""
Reads a trajectory from a text file.
File format:
The file format is "stamp d1 d2 d3 ...", where stamp denotes the time stamp (to be matched)
and "d1 d2 d3.." is arbitary data (e.g., a 3D position and 3D orientation) associated to this timestamp.
Input:
filename -- File name
Output:
dict -- dictionary of (stamp,data) tuples
"""
file = open(filename)
data = file.read()
lines = data.replace(","," ").replace("\t"," ").split("\n")
#if remove_bounds:
# lines = lines[100:-100]
list = [[v.strip() for v in line.split(" ") if v.strip()!=""] for line in lines if len(line)>0 and line[0]!="#"]
list = [(float(l[0]),l[1:]) for l in list if len(l)>1]
return dict(list)
def associate(first_list, second_list,offset,max_difference):
"""
Associate two dictionaries of (stamp,data). As the time stamps never match exactly, we aim
to find the closest match for every input tuple.
Input:
first_list -- first dictionary of (stamp,data) tuples
second_list -- second dictionary of (stamp,data) tuples
offset -- time offset between both dictionaries (e.g., to model the delay between the sensors)
max_difference -- search radius for candidate generation
Output:
matches -- list of matched tuples ((stamp1,data1),(stamp2,data2))
"""
first_keys = list(first_list.keys())
second_keys = list(second_list.keys())
potential_matches = [(abs(a - (b + offset)), a, b)
for a in first_keys
for b in second_keys
if abs(a - (b + offset)) < max_difference]
potential_matches.sort()
matches = []
for diff, a, b in potential_matches:
if a in first_keys and b in second_keys:
first_keys.remove(a)
second_keys.remove(b)
matches.append((a, b))
matches.sort()
return matches
if __name__ == '__main__':
# parse command line
parser = argparse.ArgumentParser(description='''
This script takes two data files with timestamps and associates them
''')
parser.add_argument('first_file', help='first text file (format: timestamp data)')
parser.add_argument('second_file', help='second text file (format: timestamp data)')
parser.add_argument('--first_only', help='only output associated lines from first file', action='store_true')
parser.add_argument('--offset', help='time offset added to the timestamps of the second file (default: 0.0)',default=0.0)
parser.add_argument('--max_difference', help='maximally allowed time difference for matching entries (default: 0.02)',default=0.02)
args = parser.parse_args()
first_list = read_file_list(args.first_file)
second_list = read_file_list(args.second_file)
matches = associate(first_list, second_list,float(args.offset),float(args.max_difference))
if args.first_only:
for a,b in matches:
print("%f %s"%(a," ".join(first_list[a])))
else:
for a,b in matches:
print("%f %s %f %s"%(a," ".join(first_list[a]),b-float(args.offset)," ".join(second_list[b])))
在ORBSLAM3文件夹中打开终端运行
python3 ./Examples/RGB-D/associate.py ./rgbd_dataset_freiburg1_desk/rgb.txt ./rgbd_dataset_freiburg1_desk/depth,txt >./rgbd_dataset_freiburg1_desk/associations.txt得到associations.txt
4.2 运行ORBSLAM3
在ORBSLAM3中打开终端：
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /rgbd_dataset_freiburg1_desk rgbd_dataset_freiburg1_desk/associations.txt即可运行成功！
！注意：TUM1.yaml为相机内参文件，注意数据集使用的是那个相机内参，rgbd_dataset_freiburg1_desk中“freiburg1”表示用的TUM1.yaml。
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