ubuntu18.04配置ORB-SLAM2

学slam的小范

已于 2024-01-19 19:32:30 修改

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文章标签： c++

于 2024-01-18 10:53:35 首次发布

本文链接：https://blog.csdn.net/m0_73399666/article/details/135667428

版权

1. pangolin0.5下载界面

https://github.com/stevenlovegrove/Pangolin/releases/tag/v0.5

#安装
cd Pangolin
mkdir build
cd build
cmake ..
build 
sudo make install

#测试
cd examples/HelloPangolin
mkdir build
cd build
cmake ..
build 
./HelloPangolin

出现下这个图表示安装成功
在这里插入图片描述

2. 更改cmakelists的c++标准

由于c++版本的原因
以上为 . /build.sh 编译错误
未改之前

#Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
  add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

改为

set(CMAKE_CXX_STANDARD 14)

 #Check C++11 or C++0x support
#include(CheckCXXCompilerFlag)
#CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
#CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
#if(COMPILER_SUPPORTS_CXX11)
#   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
#  add_definitions(-DCOMPILEDWITHC11)
#   message(STATUS "Using flag -std=c++11.")
#elseif(COMPILER_SUPPORTS_CXX0X)
#   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
#   add_definitions(-DCOMPILEDWITHC0X)
#   message(STATUS "Using flag -std=c++0x.")
#else()
 #  message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please #use a different C++ compiler.")
#endif()

3.出现std::chrono::monotonic_clock’ has not been declared问题

需要改的文件有：example每个里面的.cc文件
改的部分：

/********************************未修改**************************************
#ifdef COMPILEDWITHC11
        std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
      //  std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
#endif

        // Pass the image to the SLAM system
        SLAM.TrackMonocular(im,tframe);

#ifdef COMPILEDWITHC11
        std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
       // std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
#endif
***********************************修改后********************************************/
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
 
 // Pass the image to the SLAM system
SLAM.TrackMonocular(im,tframe);

std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
//****************************************************************************************

4.出现ORB_SLAM2/src/System.cc: error: ‘usleep’ was not declared in this scope usleep(5000);

（1）找到对应的System.cc文件的首部加入头文件

#include<unistd.h>

一般需要增加unistd.h的文件还有：
Examples/Monocular/mono_euroc.cc
Examples/Monocular/mono_kitti.cc
Examples/Monocular/mono_tum.cc
Examples/RGB-D/rgbd_tum.cc
Examples/Stereo/stereo_euroc.cc
Examples/Stereo/stereo_kitti.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/System.cc
src/Tracking.cc
src/Viewer.cc

（2）出现CMakeFiles/RGBD.dir/build.make:197: recipe for target ‘…/RGBD’ failed错误

修改home/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/文件夹下的CMakeLists.txt文件。
在set（LIBS xxxxx 的后面加上下列这一句代码。