Ubuntu16.04编译高博的ORBSLAM2_with_pointcloud_map

0. 安装Pangolin

依赖项：

sudo apt-get install libglew-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev

源码编译安装：

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

 卸载ros安装的g2o

sudo apt-get remove ros-kinetic-libg2o

1. 下载源码

git clone https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map.git

2. 解压 orbslam2_modified.zip

解压会得到两个文件夹，分别为 g2o_with_orbslam2 和 ORB_SLAM2_modified

3. 编译g2o

安装依赖项

sudo apt-get intall libsuitesparse-dev qtdeclarative5-dev qt5-default libqglviewer-dev

1） 修改 g2o_with_orbslam2/CMakeLists.txt ，注释如下代码：

2）修改 g2o_with_orbslam2/g2o/CMakeLists.txt ，注释如下代码：

3）修改 g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp

将
t.setRotation(t.rotation().angle()+_measurement);
改为
t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+_measurement)); 

4）修改g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h(注意：eigen3.2.8不用修改此处，以上版本需修改，如3.2.10)

将
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
改为
typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::StorageIndex> PermutationMatrix;

5）编译安装g2o (编译过程中会出现一大堆的warning，还好么有error，万幸万幸啊  如果系统安装的eigen3.2版本，则不会有所谓的警告啦)

cd g2o_with_orbslam2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make 
sudo make install

4. 编译DBoW2

cd ORB_SLAM2_modified/Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make 

编译成功后，会在/lib目录下生成 libDBoW2.so，将该库文件拷贝到系统目录下：

sudo cp ../lib/libDBoW2.so /usr/local/lib

5. 编译 ORB_SLAM2_modified

修改ORB_SLAM2_modified/CMakeLists.txt 中的find_package(OpenCV 2.4.3 REQUIRED) 为 find_package(OpenCV REQUIRED)，这样不管你安装的是opencv2 还是opencv3都没问题啦

cd ../../../
mkdir build
cmake .. -DCMAKE_BUILD_TYPE=Release
make

6. 准备 ORBvoc.txt

下载 ORBvoc.txt.tar.gz 并解压到 ORB_SLAM2_modified/Vocabulary 目录下

附百度云链接：https://pan.baidu.com/s/1ckDdhFA9BX4o5Iauf_bdUw

提取码：czrh

也可以去ORBSLAM2的github上下载

7. 准备数据集

下载 rgbd_dataset_freiburg1_desk2 数据集，https://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_desk2.tgz，并解压。

8. 运行ORBSLAM2

命令行格式：

命令行格式：
./run/rgbd_tum Vocabulary/ORBvoc.bin path_to_settings path_to_sequence path_to_association

例如将数据集解压到ORB_SLAM2_modified/Examples/RGB-D/目录下时：
../Examples/RGB-D/rgbd_tum ../Vocabulary/ORBvoc.txt ../Examples/RGB-D/TUM1.yaml ../Examples/RGB-D/rgbd_dataset_freiburg1_desk2 ../Examples/RGB-D/associations/fr1_desk2.txt

运行效果如下图所示：

 

Good Lucky！

参考链接：

https://github.com/gaoxiang12/ORBSLAM2_with_pointcloud_map

https://github.com/abhineet123/ORB_SLAM2

https://blog.csdn.net/oliongs/article/details/79696376