【SLAM】从零开始在Ubuntu系统中复现ORB-SLAM3（version1.0）

jhunmk29

已于 2023-10-23 18:42:24 修改

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分类专栏： SLAM 文章标签： ubuntu c++

于 2023-03-13 22:38:46 首次发布

本文链接：https://blog.csdn.net/qq_36070656/article/details/129499785

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相关依赖安装

必要依赖

sudo apt-get update
sudo apt-get install git gcc g++
sudo apt-get install vim make cmake
sudo apt-get install libssl-dev

Pangolin

请不要安装最新版本，建议选择0.6版本
下载地址
Required Dependencies

OpenGL (Desktop / ES / ES2)

sudo apt install libgl1-mesa-dev

Glew

sudo apt install libglew-dev

Recommended Dependencies

Python2 / Python3, for drop-down interactive console

sudo apt install libpython2.7-dev

Wayland

sudo apt install pkg-config
sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols

Optional Dependencies for video input （可选）

FFMPEG (For video decoding and image rescaling)

sudo apt install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev

DC1394 (For firewire input)

sudo apt install libdc1394-22-dev libraw1394-dev

libuvc (For cross-platform webcam video input via libusb)

git://github.com/ktossell/libuvc.git

libjpeg, libpng, libtiff, libopenexr (For reading still-image sequences)

sudo apt install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev

** 编译与安装 **

cd Pangolin
mkdir build && cd build
cmake ..
make -j4
sudo make install

** 验证 **

cd ..
cd examples/HelloPangolin
mkdir build && cd build
cmake ..
make
./HelloPangolin

在这里插入图片描述

Eigen3.3.4安装

Required by g2o (see below). Download and install instructions can be found at: Eigen官网. Required at least 3.1.0.

#安装
cd eigen-3.3.4
mkdir build
cd build
cmake ..
make
sudo make install
 
#安装后,头文件安装在/usr/local/include/eigen3/

Opencv3.4.5安装

We use OpenCV to manipulate images and features. Dowload and install instructions can be found at: Opencv官网. Required at leat 3.0. Tested with OpenCV 3.2.0 and 4.4.0.
官方的安装流程
在这里插入图片描述
请根据自己的版本选择

安装前置依赖

[compiler] sudo apt-get install build-essential
[required] sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
[optional] sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

编译

cd ~/opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_GTK=ON -D OPENCV_GENERATE_PKGCONFIG=YES ..
make 
sudo make install

CMAKE_BUILD_TYPE=RELEASE：表示编译发布版本
CMAKE_INSTALL_PREFIX：表示生成动态库的安装路径，可以自定义
WITH_GTK=ON：这个配置是为了防止GTK配置失败：即安装了libgtk2.0-dev依赖，还是报错未安装
OPENCV_GENERATE_PKGCONFIG=YES：表示自动生成OpenCV的pkgconfig文件，否则需要自己手动生成。

配置环境变量

sudo gedit  /etc/ld.so.conf.d/opencv.conf

添加路径

/usr/local/lib

使用如下命令生效设置

sudo ldconfig

配置系统bash

sudo gedit /etc/bash.bashrc

在末尾添加

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH

生效

source /etc/bash.bashrc

查看

#opencv版本检测
pkg-config --modversion opencv

# 如果安装的是opencv4
pkg-config --modversion opencv4

安装Boost

Boost 是一个功能强大、构造精巧、跨平台、开源并且完全免费的 C++ 程序库。
下载地址
选择：boost_1_77_0.tar.gz
解压后运行

sudo ./bootstrap.sh
sudo ./b2 install

ROS一键式安装

wget http://fishros.com/install -O fishros && . fishros

来源：https://fishros.org.cn/forum/

ORB-SLAM3编译

这里本文没有选择官方的ORB-SLAM3，而是选择了Github中有详细解释信息的，同样都是version1.0版本
ORB_SLAM3_detailed_comments

cd ORB_SLAM3
chmod +x build.sh
./build.sh

完成

在ROS中编译

# 添加环境变量
sudo gedit ~/.bashrc
# 文件中写入
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/ubuntu/catkin_ws/src/ORB_SLAM3/Examples/ROS
source ~/.bashrc
echo ${ROS_PACKAGE_PATH}
chmod +x build_ros.sh
./build_ros.sh

报错：
（1）[rosbuild] rospack found package “ORB_SLAM3” at “”, but the current directory is …
解决：
都是环境变量中ROS_PACKAGE_PATH 没有更改：gedit ~/.bashrc添加或更改
（2）modulenotfounderror: no module named ‘rospkg’

pip install rospkg

（3）[rospack] Error: the rosdep view is empty: call ‘sudo rosdep init’ and ‘rosdep update’

sudo rosdep init
rosdep update

第一行命令出现错误

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

解决如下：
1、打开terminal控制台，输入：sudo gedit /etc/hosts
这个命令中的nano是文本编辑器，也可以用vim、gedit等打开；
2、在打开的文件末尾一行添加： 151.101.84.133 raw.githubusercontent.com
3、保存退出，在terminal中输入： sudo rosdep init
4、执行完输入：rosdep update即可
在这里插入图片描述

第二行命令如果出现错误
可参考如下博文：rosdep update error
亲测可用

（4）Found PythonInterp: /home/wxd/anaconda3/bin/python (found version “3.9.13”)
ROS和Conda的python冲突，这里退出

conda deactivate

这里就算修改也没有用，最终发现是因为conda污染导致的，建议直接删除conda软件，后续也可能会造成污染！

# 查看python
which python3

（5）依旧报错

CMakeLists find_package(opencv3), error occurred like this:

[ 15%] Linking CXX executable ../Stereo_Inertial
/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.4
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /opt/ros/noetic/lib/libcv_bridge.so, may conflict with libopencv_core.so.3.4
/usr/bin/ld: CMakeFiles/Stereo_Inertial.dir/src/ros_stereo_inertial.cc.o: undefined reference to symbol '_ZNK2cv8FileNodecviEv'
/usr/bin/ld: /usr/lib/x86_64-linux-gnu/libopencv_core.so.4.2.0: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status

I changed the CMakeLists to find_package(opencv4),
[ 15%] Linking CXX executable ../Stereo_Inertial
/usr/bin/ld: warning: libopencv_highgui.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_highgui.so.4.2
/usr/bin/ld: warning: libopencv_calib3d.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_calib3d.so.4.2
/usr/bin/ld: warning: libopencv_imgproc.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_imgproc.so.4.2
/usr/bin/ld: warning: libopencv_core.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_core.so.4.2
afterwards every Linking process has warning like this.

Different versions libopencv shared libs are needed and inevitably conflict with another version.

ROS 使用的版本和 ORBSLAM3 使用的版本不一样……如果不是从源代码构建 ROS，你就无法控制它使用的 OpenCV 版本……所以构建 ORBSLAM3 使用您的 ROS 使用的 OpenCV 版本…在您的情况下，ROS noetic 使用 Opencv 4.2 并且您已经使用 OpenCV 3.4 构建了 ORBSLAM3 。尝试将 OpenCV 4.2 与 ORBSLAM3 结合使用。
解决方法

just change the CMakeLists to find_package(OpenCV 4) and add #include "opencv2/imgcodecs/legacy/constants_c.h" in all .cc file in Examples. It will work

ORB_SLAM3/issues/279

经过测试，以上方法也没有用！！！

重新看错误信息：

libopencv_imgproc.so.3.4, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_imgproc.so.4.2

这个错误信息的意思是：编译orb-slam3的ros的时候，使用的是opencv4.2，但是lib文件夹下的libORB_SLAM3.so是使用opencv3.4编译的，会产生冲突。
如果你此时运行rosrun ORB-SLAM3 Mono ...时候，会无法运行，报错信息为：段错误 (核心已转储)，这个问题就是由于opencv版本信息不对应导致的。
为什么Opencv版本存在问题？
这是因为我们安装ros的时候，使用一键式安装，导致ros自动安装了Opencv4，而我们在上面又自己手动安装了Opencv3.4.5，此时系统环境中存在两个版本的Opencv！当我们下载orb-slam3后，先运行了./build,sh，请打开build.sh查看，可以看到里面编译了以下内容：

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

cd ../../g2o

echo "Configuring and building Thirdparty/g2o ..."

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

cd ../../Sophus

echo "Configuring and building Thirdparty/Sophus ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release

打开/Thirdparty/DBoW2/CMakeLists.txt

find_package(OpenCV 3.2 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 3.0 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 3.0 not found.")
   endif()
endif()

也就是说OpenCV查找3.2版本后没找到选择了3.4.5，但是后面编译./build_ros.sh时候是基于ros环境的编译，而ros环境中使用的是OpenCV4.2.0，这就导致了OpenCV版本的不一致。

** 解决方案 **
根据上述分析，很容易想到解决方案，在相关CMakeLists.txt中明确使用ROS环境中的OpenCV4.2.0
对~/ORB_SLAM3_detailed_comments-master/CMakeLists.txt、~/ORB_SLAM3_detailed_comments-master/Thirdparty/DBoW2/CMakeLists.txt和~/ORB_SLAM3_detailed_comments-master/Examples/ROS/ORB_SLAM3/CMakeLists.txt中所有的find_package(OpenCV 3.2 QUIET)都修改为find_package(OpenCV 4)，此时再编译即可运行通过！

在这里插入图片描述

ORB-SLAM3测试

rocore

rosrun ORB_SLAM3 Stereo_Inertial /home/wxd/software/ORB_SLAM3_detailed_comments-master/Vocabulary/ORBvoc.txt /home/wxd/software/ORB_SLAM3_detailed_comments-master/Examples_old/Stereo-Inertial/EuRoC.yaml true

rosbag play --pause MH_03_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu

注意：相机标定文件选择的是/Examples_old/Stereo-Inertial/EuRoC.yaml的，不是新的标定文件（估计Examples/ROS是从Examples_old/ROS复制过去的），不然会报标定信息错误。

更新

这orb-slam3最新版本bug真多，作者维护真慢
1、从github中拉取下来之后，先修改目录中的CMakeList.txt，因为本人电脑opencv版本4.2，CMakeLists中要求4.4

find_package(OpenCV 4)

2、将examples_old中的ROS包复制到eamples中，因为build_ros.sh明明写的是cd Examples/ROS/ORB_SLAM3
3、修改ROS文件夹中的CMakeList.txt，一个是opencv版本；另一个是第三方库问题

fatal error: sophus/se3.hpp: 没有那个文件或目录

添加

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${PROJECT_SOURCE_DIR}/../../../include/CameraModels
${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
${Pangolin_INCLUDE_DIRS}
)

另外，AR包是有问题的，删除关于AR相关的内容，反正也不用，下面是删除修改后全部CMakeLists内容

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

rosbuild_init()

IF(NOT ROS_BUILD_TYPE)
  SET(ROS_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${ROS_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")

# 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()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)

find_package(OpenCV 4)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${PROJECT_SOURCE_DIR}/../../../include/CameraModels
${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus
${Pangolin_INCLUDE_DIRS}
)

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_SLAM3.so
-lboost_system
)

# Node for monocular camera
rosbuild_add_executable(Mono
src/ros_mono.cc
)

target_link_libraries(Mono
${LIBS}
)

# Node for stereo camera
rosbuild_add_executable(Stereo
src/ros_stereo.cc
)

target_link_libraries(Stereo
${LIBS}
)

# Node for RGB-D camera
rosbuild_add_executable(RGBD
src/ros_rgbd.cc
)

target_link_libraries(RGBD
${LIBS}
)

# Node for monocular-inertial camera
rosbuild_add_executable(Mono_Inertial
src/ros_mono_inertial.cc
)

target_link_libraries(Mono_Inertial
${LIBS}
)

# Node for stereo-inertial camera
rosbuild_add_executable(Stereo_Inertial
src/ros_stereo_inertial.cc
)

target_link_libraries(Stereo_Inertial
${LIBS}
)

参考

[1] https://www.jianshu.com/p/59608e83becb
[2] https://aitechtogether.com/article/39266.html
[3] https://blog.csdn.net/qq_38364548/article/details/122220493