VDO-SLAM 配置 2022 Ubuntu20.04

一、配置

1. opencv

OpenCV version >= 3.4
查看方式：pkg-config --modversion opencv
安装方式：OpenCV源码安装

2. g2o

g2o >= 3.1.0

3. 下载

cd && git clone https://gitcode.net/mirrors/halajun/VDO_SLAM.git VDO-SLAM
cd VDO-SLAM
chmod +x build.sh
./build.sh

4. 编译

4.1 缺少xfeatures2d文件

从https://gitcode.net/opencv/opencv_contrib/-/tree/4.x/modules/xfeatures2d/include/opencv2
处下载文件和文件夹，粘贴到/usr/include/opencv2中

4.2 DRAW_OVER_OUTIMG

cv::drawKeypoints(… , 1); 改为 cv::drawKeypoints(… , cv::DrawMatchesFlags::DRAW_OVER_OUTIMG);

4.3 CV_GRAY2RGB not declared

/home/howtoloveyou/VDO-SLAM/src/Tracking.cc:496:35: error: ‘CV_GRAY2RGB’ was not declared in this scope
496 | cvtColor(mImGray, mImBGR, CV_GRAY2RGB);
| ^~~~~~~~~~~
添加头文件：#include <opencv2/imgproc/types_c.h>

4.4 error: ‘CV_FILLED’ was not declared in this scope

CV_FILLED改为：cv::FILLED

4.5 error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope

添加头文件：#include <opencv2/opencv.hpp>
将CV_LOAD_IMAGE_UNCHANGED替换为cv::IMREAD_UNCHANGED

4.6 error: ‘readOpticalFlow’ is not a member of ‘cv::optflow’; did you mean ‘calcOpticalFlowSF’?

cv::optflow::readOpticalFlow改为：cv::readOpticalFlow

5. 运行

下载 demo-kitti，解压到VDO-SLAM下，通过如下的命令运行：
cd ~/VDO_SLAM && ./example/vdo_slam example/kitti-0000-0013.yaml demo-kitti/