在unbuntu上安装tum_ardrone的原始SLAM方法PTAM的步骤参考下面的链接:
点击打开链接(http://blog.csdn.net/zhuquan945/article/details/72865769)
我安装的opencv版本是2.4.11,安装过程中ffmpeg安装失败,但最后仍然生成了可执行文件
关键在于:
1.在Tracker.cc的头文件中添加:
#include<unistd.h>
2.
在makefile文件中更改COMPILEFLAGS、LINKFLAGS和VIDEOSOURCE如下:
COMPILEFLAGS = -I /usr/include -I /usr/local/include -D_LINUX -D_REENTRANT -Wall -O3 -march=nocona -msse3
LINKFLAGS = -L /usr/local/lib -lGVars3 -lcvd -lopencv_legacy -lopencv_core -lopencv_video -lopencv_highgui -lGLU -lGL -llapack -lblas -lgfortran
# Edit this line to change video source
VIDEOSOURCE = VideoSource_Linux_V4L.o
3.只要用到linux的摄像头都要设为:VIDEOSOURCE = VideoSource_Linux_V4L.o,进入VideoSource_Linux_V4Lcc中将“ string QuickCamFile = GV3::get<string>("VideoSource.V4LDevice", "/dev/video1");”中的/dev/video0(电脑自带摄像头)改为/dev/video1(USB摄像头)