noetic orbslam配置，realsense

1.realsense

sudo apt-get update && sudo apt-get upgrade && sudo apt-get dist-upgrade

sudo apt-get install libssl-dev libusb-1.0-0-dev libudev-dev pkg-config libgtk-3-dev

sudo apt-get install git wget cmake build-essential

sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev at

git clone https://github.com/IntelRealSense/librealsense.git

./scripts/setup_udev_rules.sh

mkdir build && cd build

cmake ../

sudo make uninstall && make clean && make && sudo make install

测试安装结果

realsense-viewer 

注意，这里查看usb usb2.0基本不行，检查usb口或者usb线

ROS 部分

sudo apt-get install ros-melodic-realsense2-camera
sudo apt-get install ros-melodic-realsense2-description

 

sudo apt-get install ros-noetic-realsense2-camera
sudo apt-get install ros-noetic-realsense2-description

测试编译结果：

roslaunch realsense2_camera demo_pointcloud.launch 

jetson

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

from realsense ROS github get realsense version and install

error

symbol lookup error: /home/zzs/software/realsense_ws/devel/lib//librealsense2_camera.so: undefined symbol: _ZN2cv3MatC1Ev

 

1. find_package( OpenCV REQUIRED )

2. include_directories(
   include
   ${realsense2_INCLUDE_DIR}
   ${catkin_INCLUDE_DIRS}
   ${OpenCV_INCLUDE_DIRS}
   )

3. target_link_libraries(${PROJECT_NAME}
   ${realsense2_LIBRARY}
   ${catkin_LIBRARIES}
   ${CMAKE_THREAD_LIBS_INIT}
   ${OpenCV_LIBRARIES}
   )

https://github.com/IntelRealSense/librealsense/blob/master/doc/installation_jetson.md

2.orbslam编译

git clone https://github.com/electech6/ORB_SLAM3_detailed_comments.git

安装 EIGEN 3.3.4

# install tools
sudo apt update
sudo apt install git cmake gcc g++

# install EIGEN3.3.4
sudo apt-get install libeigen3-dev

安装 Pangolin 0.6

# install pangolin0.6
## 安装依赖
sudo apt install libglew-dev libpython2.7-dev
## 获得pangolin的稳定版本安装包
https://github.com/stevenlovegrove/Pangolin/releases/tag/v0.6
## 编译安装
mkdir build
cd build
cmake ..
make
sudo make install       # 安装后pangolin将在/usr/local/include/中找到
## 测试
cd build/examples/HelloPangolin
./HelloPangolin    # 运行此示例，效果显示是一个红绿蓝立方体，表示即为安装成功

编译 ORB-SLAM3 非 ROS 版本

• 编译 Thirdparty/DBoW2

修改 CMake­Lists.txt（支持 OpenCV4）：

# find_package(OpenCV 3.2 QUIET)
# if(NOT OpenCV_FOUND)
#    find_package(OpenCV 3.0 QUIET)
#    if(NOT OpenCV_FOUND)
#       message(FATAL_ERROR "OpenCV > 3.0 not found.")
#    endif()
# endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(OpenCV 4 REQUIRED)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 4.4 not found.")
   endif()

然后编译：

cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

• 编译 Thirdparty/Sophus

cd Thirdparty/Sophus
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

• 解压 /ORB_SLAM3/Vocabulary/ORBvoc.txt.tar.gz

# 在/ORB_SLAM3下开终端
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..

• 编译ORB_SLAM3

# 参考 Thirdparty/DBoW2 修改 CMakeLists.txt，支持OpenCV4
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

 pcl报错

如果使用pcl1.8版本

参考链接：Ubuntu20.04安装PCL1.8.0编译错误（全网最全~）_pcl::sampleconsensusmodelellipse2d-CSDN博客

首先进行下载：Releases · PointCloudLibrary/pcl · GitHub

这里我们选择1.8.0版本

进入根目录进行编译：

mkdir build

cd build

cmake ..

make -j12

 

error1：boost::math::isnan

解决：在vlp_grabber.h文件中加入#include<boost/math/special_functions/fpclassify.hpp>

 

error 2：#include <boost/uuid/sha1.hpp>

 原因：sha1.hpp的路径不对（查找自己电脑上sha1.hpp的路径）

解决：在pcl_visualizer.cpp中将#include <boost/uuid/sha1.hpp>改为#include <boost/uuid/detail/sha1.hpp>

 

error 3：error: invalid initialization of reference of type ‘const std::vector<float>&’ from expression of type ‘const boost::shared_ptr<std::vector<float> >’
  144 |         return (plane_coeff_d_);

 解决：在plane_coefficient_comparator.h中的return (plane_coeff_d_)修改为

return (* plane_coeff_d_)

 

error 4：/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_resetStreamHC'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_setStreamDecode'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_decompress_safe'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_decompress_safe_continue'
/bin/ld: ../../lib/libpcl_kdtree.so.1.8.0: undefined reference to `LZ4_compress_HC_continue'

解决：/pcl/build/kdtree/CMakeFiles/pcl_kdtree.dir/下的link.txt里在末尾写上：-llz4

 

error 5：error: no matching function for call to ‘boost::uuids::random_generator_pure::random_generator_pure(boost::random::mt19937*)’ 77 |     boost::uuids::random_generator OutofcoreOctreeDiskContainer<PointT>::uuid_gen_ (&rand_gen_);

 解决：注释octree_disk_container.hpp中的76、77行：

 

error 6（我加了会报错）：/home/young/pcl-1.8.0/features/include/pcl/features/integral_image_normal.h:254: undefined reference to `pcl::IntegralImageNormalEstimation<pcl::PointXYZ, pcl::Normal>::initData()'

 解决：在octree_disk_container.hpp加入#include <pcl/features/normal_3d.h>

 

error 7：/bin/ld: ../lib/libpcl_recognition.so.1.8.0: undefined reference to `pcl::BOARDLocalReferenceFrameEstimation<pcl::PointXYZRGBA, pcl::Normal, pcl::ReferenceFrame>::computeFeature(pcl::PointCloud<pcl::ReferenceFrame>&)'

 解决：在pcl-1.8.0/features/include/pcl/features/board.h加#include <pcl/features/board.h>

 最终在cmakelist中加入

set(PCL_DIR /usr/local/share/pcl-1.8/)

3.坐标树及节点分析

相机tf

建图tf图

建图节点图

 

 导航tf

导航node