一.ORB_SLAM2编译
首先下载ORB_SLAM2代码,编译过程如下
cd ORB_SLAM2
chmod +x build.sh
./build.sh
编译完成,运行TUM数据集命令
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/yutian/ORB_SLAM2/date/rgbd_dataset_freiburg1_desk
这样就可以跑数据集了。
二.ROS下运行ORB_SLAM2
输入以下命令
gedit ~/.bashrc
在文档最后加上
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/yutian/ORB_SLAM2/Examples/ROS
加入后保存关闭。
之后编译,如果出现问题
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:203: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:203: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
首先通过locate boost_system和locate boost_filesystem查找两个文件到位置
locate boost_system
//查找到目录
/usr/lib/x86_64-linux-gnu/libboost_system.a
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
/usr/local/MATLAB/R2017a/bin/glnxa64/libboost_system.so.1.56.0
locate boost_filesystem
//查找到目录
/usr/lib/x86_64-linux-gnu/libboost_filesystem.a
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
/usr/local/MATLAB/R2017a/bin/glnxa64/libboost_filesystem.so.1.56.0
然后找到对应到文件将libboost_system.so,libboost_system.so.1.58.0和libboost_filesystem.so,libboost_filesystem.so.1.58.0复制到ORB_SLAM2/lib下(注意是四个文件),最后在ORBSLAM2/Examples/ROS/ORBSLAM2/Cmakelists.txt中加两行代码
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
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so
问题完美解决。