ORB_SLAM2配置与运行

最新推荐文章于 2023-03-07 15:56:42 发布

kaqiur

最新推荐文章于 2023-03-07 15:56:42 发布

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文章标签： ros orb-slam3 opencv

本文链接：https://blog.csdn.net/kaqiur/article/details/114651842

版权

安装工具

下载cmake、gcc、g++和git工具

下载cmake

sudo apt-get install cmake

下载git

sudo apt-get install git

下载gcc和g++

sudo apt-get install gcc g++

安装Pangolin

先安装依赖项

sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev

下载Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOSR=1 ..

开始编译

sudo make -j8

编译好了后安装

sudo make install

安装OpenCV

我装的是opencv 3.2.0

1.先安装依赖包

sudo apt install libgtk2.0-dev  
sudo apt install pkg-config

2.到opencv网站下载opencv 3.2.0

https://link.zhihu.com/?target=https%3A//opencv.org/releases.html

3.开始安装

unzip opencv-3.2.0.zip
cd opencv-3.2.0
mkdir build
cd build

4.开始编译

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D ENABLE_PRECOMPILED_HEADERS=OFF ..

这里可能会出现以下问题

Downloading ippicv_linux_20151201.tgz…
CMake Error at 3rdparty/ippicv/downloader.cmake:73 (file):
file DOWNLOAD HASH mismatch

手动下载ippicv_linux_20151201.tgz，替换到opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e文件下

sudo make -j8
sudo make install

5.添加路径

sudo vim /etc/ld.so.conf.d/opencv.conf

内容：

/usr/local/lib

6.添加环境变量

sudo vim ~/.profile

.profile最后一行添加：

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH

7.测试

cd ../samples/cpp/example_cmake
cmake .
make
./opencv_example

结果如下说明opencv安装成功

在这里插入图片描述

安装Eigen3

sudo apt-get install libeigen3-dev

安装ROS-melodic

参考以下博文：

https://blog.csdn.net/qq_41450811/article/details/99079041

但是在初始化rosdep的时候，遇到了大麻烦：

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

网上修改hosts的方法也行不通，最后根据以下博文手动把包下载下来，并修改源码：

https://blog.csdn.net/nanianwochengshui/article/details/105702188

建立ORB-SLAM2

建立ROS工作区catkin_ws

cd ~
mkdir ./catkin_ws
cd catkin_ws
mkdir src

方法1：复制项目
cd ~/catkin_ws/src
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

但是经常会下载不下来，所以可以用方法2

或者
方法2：将ORB_SLAM2项目下载到~/catkin_ws/src下，解压

cd ORB_SLAM2
chmod +x build.sh
./build.sh

这时候可能会出现以下问题：

error: ‘usleep’ was not declared in this scope
usleep(3000);

方法：在./include/System.h文件中添加#include<unistd.h>

跑MONO_TUM数据集

下载tum数据集http://vision.in.tum.de/data/datasets/rgbd-dataset/download，解压

tar zxvf rgbd_dataset_freiburg3_nostructure_texture_far.tgz -C ./

cd ~/catkin_ws/src/ORB_SLAM2/

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt ./Examples/Monocular/TUM3.yaml /home/youyx/data/tum/rgbd_dataset_freiburg3_nostructure_texture_far

chmod +x build_ros.sh
./build_ros.sh

可能会遇到：fatal error: Eigen3/Core: 没有那个文件或目录

建立软链接

sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen

重新

./build_ros.sh

又遇到问题：undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’

方法：在Examples/ROS/ORB_SLAM2/文件夹下的CMakeLists.txt文件中
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
改为
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
)