1. Pangolin 安装
1.1依赖项
安装g++ gcc cmake cmake3 epel,这个简单,自己找找。
sudo yum -y install epel-release # 安装epel扩展源
sudo yum -y install git gcc gcc-c++ cmake3
a>freeglut-3.0.0-8.el7.x86_64
yum install freeglut
b>libGLEW-1.10.0-5.el7.x86_64
yum install libGLEW
c>glew-devel-1.10.0-5.el7.x86_64
到:下载地址[https://pkgs.org/download/glew-devel]下载,glew-devel-1.10.0-5.el7.x86_64.rpm和libglew-devel-1.7.0-1.el6.x86_64.rpm
然后安装
sudo rpm -ih glew-devel-1.10.0-5.el7.x86_64.rpm
sudo rpm -ih libglew-devel-1.7.0-1.el6.x86_64.rpm
1.2.安装pangolin
可以在https://github.com/stevenlovegrove/Pangolin上下载Pangolin,如图选择0.5版本,终端使用如下的指令也OK:
a>进入Pangolin-0.5
cd Pangolin-0.5
新建build 文件夹,进入build目录
mkdir build
cd build
编译、安装
cmake ..
make
sudo make install
2 安装Eigen
wget wget http://bitbucket.org/eigen/eigen/get/3.3.7.tar.gz # 下载Eigen
tar -zxvf 3.3.7.tar.gz # 解压
cd eigen-eigen-xxxxxxxxxxxxxxx # 进入eigen解压的目录
mkdir build # 新建一个build文件夹
cd build # 进入build文件夹
cmake .. # 用cmake生成Makefile
make install # 安装
这个很稳定,没毛病;
3安装OpenCV3.X
安装所需的程序包
sudo yum -y install qt5-qtbase-devel
sudo yum install -y python34 python34-devel python34-pip
sudo yum install -y python python-devel python-pip
sudo yum -y install python-devel numpy python34-numpy
sudo yum -y install gtk2-devel
sudo yum install -y libpng-devel
sudo yum install -y jasper-devel
sudo yum install -y openexr-devel
sudo yum install -y libwebp-devel
sudo yum -y install libjpeg-turbo-devel
sudo yum install -y freeglut-devel mesa-libGL mesa-libGL-devel
sudo yum -y install libtiff-devel
sudo yum -y install libdc1394-devel
sudo yum -y install tbb-devel eigen3-devel
sudo yum -y install boost boost-thread boost-devel
sudo yum -y install libv4l-devel
sudo yum -y install gstreamer-plugins-base-devel
#=========== 安装 ffmpeg ===========
yum localinstall --nogpgcheck https://download1.rpmfusion.org/free/el/rpmfusion-free-release-7.noarch.rpm https://download1.rpmfusion.org/nonfree/el/rpmfusion-nonfree-release-7.noarch.rpm
yum -y install ffmpeg ffmpeg-devel # 安装ffmpeg依赖
下载OpenCV3.x
官网下载
编译安装
cd opencv
mkdir build
cd build
cmake ..
make
sudo make install
sudo make install 执行完毕后OpenCV编译过程就结束了,接下来就需要配置一些OpenCV的编译环境首先将OpenCV的库添加到路径,从而可以让系统找到。
sudo gedit /etc/ld.so.conf.d/opencv.conf
执行此命令后打开的可能是一个空白的文件,不用管,只需要在文件末尾添加
/usr/local/lib
执行如下命令使得刚才的配置路径生效
sudo ldconfig
可以写个demo测试一下
4.下载数据集(Monocular Examples)
下载地址
选择这个数据,这个数据下载比较慢,内心等等。
三个数据放在同一个文件夹下;
5.ORB_SLAM2
下载地址
或者
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
切换到 ORB_SLAM2目录下, 打开终端执行以下命令:
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml ../rgbd_dataset_freiburg1_360/
这样,数据集代码就跑起来了,下一篇博客介绍源码分析。