目录
1.基础知识学习
摄像头学习:https://blog.csdn.net/learning_tortosie/article/details/79879575
参考博客:https://blog.csdn.net/learning_tortosie/article/list/4
安装教程:https://blog.csdn.net/sanyiji/article/details/105591536
(换为中科大的源:https://blog.csdn.net/sumyer/article/details/88102280)
使用摄像头运行未解决
配置环境:
使用的是14.04但教程更详细一些对照 https://blog.csdn.net/learning_tortosie/article/details/79881165
配置SLAM环境:https://blog.csdn.net/weixin_43279917/article/details/103074696
Sophus安装:git clone https://github.com/strasdat/Sophus.git
修改方法:https://blog.csdn.net/daerzei/article/details/79282791
原因:https://blog.csdn.net/fan_ping/article/details/85236365
git checkout -b branch_name tag_name
mkdir build
cd build
cmake ..
make
ubuntu取消运行 ctrl+C
安装PCL库 执行更新时出现错误 换源:https://www.cnblogs.com/aaronthon/p/10002153.html
并没有解决这个问题
其实要注意自己的系统版本是16.04。
Ubuntu16.04之后安装pcl可以直接apt-get, 利用sudo apt-get install libpcl-dev pcl-tools即可!
1009重新安装:
重装系统后装库+opencv3.4.3(https://blog.csdn.net/echoamor/article/details/83022352)
1.依次安装库:https://blog.csdn.net/qq_42938987/article/details/83990212
2.(安装open cv 3.4.3遇到问题:https://blog.csdn.net/echoamor/article/details/83022352)
安装依赖项:
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
把依赖项放入opencv文件夹中安装:
opencv下载地址:http://opencv.org/releases.html
opencv-contribe 3.4.3下载地址:https://github.com/opencv/opencv_contrib/tree/3.4.3
cd ~/opencv/opencv-3.2.0
mkdir build
cd build/
sudo cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH= ..
make –j4
sudo make install
配置环境变量:按教程https://blog.csdn.net/u013066730/article/details/79411767
测试,按教程:slambook的chap5代码 编译运行 把图像放到build文件夹中
mkdir build
cd build
cmake ..
make
./imageBasics ubuntu.png
下载数据集,运行ORB-SLAM:https://blog.csdn.net/learning_tortosie/article/details/79881165
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/lexiaoxia/code/rgbd_dataset_freiburg1_xyz