Kintinuous 在Ubuntu16.04下编译安装过程（附带所有用到的源码）

最新推荐文章于 2024-05-16 09:50:08 发布

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最新推荐文章于 2024-05-16 09:50:08 发布

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分类专栏： Kinect 文章标签： Kintinuous Ubuntu16.04 安装教程编译

本文链接：https://blog.csdn.net/lzRush/article/details/89089233

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写在前面：很多Kintinuous安装教程都是手动安装依赖的方式，过程繁琐，容易出错，其实Kintinuous官方提供傻瓜式自动安装的方式，但必须是纯净系统（刚装的系统，还没有使用过），但我没有实验过

以下是官方给出的Easy Way

Is there an easier way to build it?

Understandably, building all of the dependencies seems quite complicated. If you run the build.sh script on a fresh clean install of Ubuntu 14.04 or 15.04, enter your password for sudo a few times and wait a few minutes all dependencies will get downloaded and installed and it should build everything correctly. This has not been tested on anything but fresh installs, so I would advise using it with caution if you already have some of the dependencies installed.

正文开始！！！（手动安装各个依赖）

Nvidia驱动、CUDA等网上有很多教程，所以这里只给出一些参考文章，不过要注意安装顺序应当和这里一致

一、安装必备组件

sudo apt-get install g++ cmake cmake-gui doxygen mpi-default-dev openmpi-bin openmpi-common libflann-dev libeigen3-dev libsuitesparse-dev libboost-all-dev libvtk5-qt4-dev libvtk6.2 libvtk5-dev libqhull* libusb-dev libgtest-dev git-core freeglut3-dev pkg-config build-essential libxmu-dev libxi-dev libusb-1.0-0-dev graphviz mono-complete qt-sdk openjdk-7-jdk openjdk-7-jre

二、安装Nvidia驱动

参考：https://blog.csdn.net/Max_Loo/article/details/81304949

三、安装CUDA(版本大于等于7.0)

参考：https://blog.csdn.net/qq_35379989/article/details/80147630

说明：Nvidia驱动和CUDA的安装根据不同的软将硬件环境，有的安装会很费事，比如我（各种莫名其妙的错误），有的安装很顺利，所以以上仅供参考

四、安装OpenNI2

参考：https://blog.csdn.net/renhaofan/article/details/80991095

五、安装PCL 1.7

sudo apt-get install libpcl-dev pcl-tools

六、安装OpenCV 2.4.13 (3.X版本不能用，2.4.9没测试，2.4.13肯定能用)

下载 OpenCV2.4.13 源码（这里下载很慢，文末附件包含）

解压后进入含有CMakeList.txt的目录下执行以下命令：

mkdir build
cd build
ccmake ..

确保BUILD_opencv_features2d 和 BUILD_opencv_nonfree 为ON

按g键会生成Makefile文件，然后

make
编译完成后执行
sudo make install

七、安装DLib 1.0 版本（必须为1.0，否则后面会很麻烦）

从这里下载（这里下载很慢，文末附件包含）

进入包含CMakeList.txt文件的目录下，执行一下命令：

mkdir build
cd build
cmake ..
make
sudo make install

八、安装DBoW2-1.0 版本

安装过程同DLib

如果在后来的Kintinuous编译过程中出现类似下面的错误：

libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DLoopDetector::TemplatedLoopDetector<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::getFlannStructure(std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > > const&, cv::FlannBasedMatcher&) const’中：
DBowInterfaceSurf.cpp:(.text._ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE17getFlannStructureERKS1_IS3_SaIS3_EERN2cv17FlannBasedMatcherE[_ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE17getFlannStructureERKS1_IS3_SaIS3_EERN2cv17FlannBasedMatcherE]+0xc9)：对‘DBoW2::FSurf64::toMat32F(std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > > const&, cv::Mat&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DBoW2::TemplatedVocabulary<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::transform(std::vector<float, std::allocator<float> > const&, unsigned int&, double&, unsigned int*, int) const’中：
DBowInterfaceSurf.cpp:(.text._ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE9transformERKS3_RjRdPji[_ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE9transformERKS3_RjRdPji]+0xc6)：对‘DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)’未定义的引用
DBowInterfaceSurf.cpp:(.text._ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE9transformERKS3_RjRdPji[_ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE9transformERKS3_RjRdPji]+0xf9)：对‘DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DLoopDetector::TemplatedLoopDetector<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::isGeometricallyConsistent_Flann(unsigned int, std::vector<cv::KeyPoint, std::allocator<cv::KeyPoint> > const&, std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > > const&, cv::FlannBasedMatcher&) const’中：
DBowInterfaceSurf.cpp:(.text._ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE31isGeometricallyConsistent_FlannEjRKS1_IN2cv8KeyPointESaIS8_EERKS1_IS3_SaIS3_EERNS7_17FlannBasedMatcherE[_ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE31isGeometricallyConsistent_FlannEjRKS1_IN2cv8KeyPointESaIS8_EERKS1_IS3_SaIS3_EERNS7_17FlannBasedMatcherE]+0x128)：对‘DBoW2::FSurf64::toMat32F(std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > > const&, cv::Mat&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DBoW2::TemplatedVocabulary<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::load(cv::FileStorage const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’中：
DBowInterfaceSurf.cpp:(.text._ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE4loadERKN2cv11FileStorageERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE[_ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE4loadERKN2cv11FileStorageERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE]+0x2d1)：对‘DBoW2::FSurf64::fromString(std::vector<float, std::allocator<float> >&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DLoopDetector::TemplatedLoopDetector<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::getMatches_neighratio(std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > > const&, std::vector<unsigned int, std::allocator<unsigned int> > const&, std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > > const&, std::vector<unsigned int, std::allocator<unsigned int> > const&, std::vector<unsigned int, std::allocator<unsigned int> >&, std::vector<unsigned int, std::allocator<unsigned int> >&) const’中：
DBowInterfaceSurf.cpp:(.text._ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE21getMatches_neighratioERKS1_IS3_SaIS3_EERKS1_IjSaIjEESA_SE_RSC_SF_[_ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE21getMatches_neighratioERKS1_IS3_SaIS3_EERKS1_IjSaIjEESA_SE_RSC_SF_]+0x158)：对‘DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)’未定义的引用
DBowInterfaceSurf.cpp:(.text._ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE21getMatches_neighratioERKS1_IS3_SaIS3_EERKS1_IjSaIjEESA_SE_RSC_SF_[_ZNK13DLoopDetector21TemplatedLoopDetectorISt6vectorIfSaIfEEN5DBoW27FSurf64EE21getMatches_neighratioERKS1_IS3_SaIS3_EERKS1_IjSaIjEESA_SE_RSC_SF_]+0x312)：对‘DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DBoW2::TemplatedVocabulary<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::initiateClustersKMpp(std::vector<std::vector<float, std::allocator<float> > const*, std::allocator<std::vector<float, std::allocator<float> > const*> > const&, std::vector<std::vector<float, std::allocator<float> >, std::allocator<std::vector<float, std::allocator<float> > > >&) const’中：
DBowInterfaceSurf.cpp:(.text._ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE20initiateClustersKMppERKS1_IPKS3_SaIS7_EERS1_IS3_SaIS3_EE[_ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE20initiateClustersKMppERKS1_IPKS3_SaIS7_EERS1_IS3_SaIS3_EE]+0x1f8)：对‘DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)’未定义的引用
DBowInterfaceSurf.cpp:(.text._ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE20initiateClustersKMppERKS1_IPKS3_SaIS7_EERS1_IS3_SaIS3_EE[_ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE20initiateClustersKMppERKS1_IPKS3_SaIS7_EERS1_IS3_SaIS3_EE]+0x26b)：对‘DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DBoW2::TemplatedVocabulary<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::HKmeansStep(unsigned int, std::vector<std::vector<float, std::allocator<float> > const*, std::allocator<std::vector<float, std::allocator<float> > const*> > const&, int)’中：
DBowInterfaceSurf.cpp:(.text._ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE11HKmeansStepEjRKS1_IPKS3_SaIS7_EEi[_ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE11HKmeansStepEjRKS1_IPKS3_SaIS7_EEi]+0x282)：对‘DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o):DBowInterfaceSurf.cpp:(.text._ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE11HKmeansStepEjRKS1_IPKS3_SaIS7_EEi[_ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE11HKmeansStepEjRKS1_IPKS3_SaIS7_EEi]+0x2cd): 跟着更多未定义的参考到 DBoW2::FSurf64::distance(std::vector<float, std::allocator<float> > const&, std::vector<float, std::allocator<float> > const&)
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DBoW2::TemplatedVocabulary<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::HKmeansStep(unsigned int, std::vector<std::vector<float, std::allocator<float> > const*, std::allocator<std::vector<float, std::allocator<float> > const*> > const&, int)’中：
DBowInterfaceSurf.cpp:(.text._ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE11HKmeansStepEjRKS1_IPKS3_SaIS7_EEi[_ZN5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE11HKmeansStepEjRKS1_IPKS3_SaIS7_EEi]+0x4e1)：对‘DBoW2::FSurf64::meanValue(std::vector<std::vector<float, std::allocator<float> > const*, std::allocator<std::vector<float, std::allocator<float> > const*> > const&, std::vector<float, std::allocator<float> >&)’未定义的引用
libbackend.a(DBowInterfaceSurf.cpp.o)：在函数‘DBoW2::TemplatedVocabulary<std::vector<float, std::allocator<float> >, DBoW2::FSurf64>::save(cv::FileStorage&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const’中：
DBowInterfaceSurf.cpp:(.text._ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE4saveERN2cv11FileStorageERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE[_ZNK5DBoW219TemplatedVocabularyISt6vectorIfSaIfEENS_7FSurf64EE4saveERN2cv11FileStorageERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE]+0x1fe)：对‘DBoW2::FSurf64::toString[abi:cxx11](std::vector<float, std::allocator<float> > const&)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/Kintinuous.dir/build.make:471: recipe for target 'Kintinuous' failed
make[2]: *** [Kintinuous] Error 1
make[2]: Leaving directory '/home/Kintinuous/Kintinuous-master/src/build'
CMakeFiles/Makefile2:180: recipe for target 'CMakeFiles/Kintinuous.dir/all' failed
make[1]: *** [CMakeFiles/Kintinuous.dir/all] Error 2
make[1]: Leaving directory '/home/Kintinuous/Kintinuous-master/src/build'
Makefile:83: recipe for target 'all' failed

我的解决方法是卸载DBoW2-1.0，安装DBoW2-1.1-nonfree版本，只是不能编译DBoW2的demo，在这里会出错

九、安装DLoopDetector-1.0(必须为1.0版本)

从这里下载（这里下载很慢，文末附件包含）

安装过程与DLib一致

十、安装iSAM 1.7 版本

从这里下载（这里下载很慢，文末附件包含）

安装过程与DLib一致

十一、安装Pangolin最新版本（截至目前的最新版本，若不行请下载文末附件里面的）

从这里下载安装过程与DLib一致

十二、安装Kintinuous 终于到了这一步了^_^

下载源码：https://github.com/mp3guy/Kintinuous （最好下载文末附件里面的，防止源码被更新不适用此教程）

安装过程与DLib一致