ubunto18.04编译Dynaslam的痛苦历程-----cpu的版本

首先致谢本科直博的大神，感谢大神手把手教我安装Dynaslam，大神的知乎链接Dynaslam配置排坑
直接开门见山吧，配置过程如下：（本人的环境 ubunto18.04 、python2.7 、tensorflow-cpu）
首先准备需要的源码文件包：
一：
1.Dynaslam(注意版本务必跟我的一样)：

git clone  https://github.com/BertaBescos/DynaSLAM.git

2.准备opencv2.4.11

git clone https://github.com/opencv/opencv.git

3.准备coco数据集

git clone https://github.com/waleedka/coco.git

4.准备pangolin（编译dynaslam的orbslam部分需要，避免后期再次下载）

git clone https://github.com/stevenlovegrove/Pangolin.git

5.准备mask_rcnn_coco.h5下载地址mask_rcnn_coco.h5（这玩意下载贼曼，大家可以自己去找资源）
6.准备tensorflow1.12.3版本（对应的keras为2.0.9）(直接复制链接到浏览器进行下载)

https://pypi.tuna.tsinghua.edu.cn/packages/84/db/5ba3fa1dedc0cdf02fc7cb19592a52974cff8cdbbf788c172b68d5371bc3/tensorflow-1.12.3-cp27-cp27mu-manylinux1_x86_64.whl (83.1MB)

然后直接通过pip的方式进行安装，没有pip的先行安装pip

sudo pip install tensorflow-1.12.3-cp27-cp27mu-manylinux1_x86_64.whl -i https://pypi.tuna.tsinghua.edu.cn/simple/

注意：
上述安装注意你是把tensorflow的包放置在哪个路径下

7.需要源码编译的就准备到这里了，其余相关依赖应该可以直接使用sudo apt-get install 进行安装
二、进行编译安装了
1.在我们进行tensorflow的安装之后首先安装keras命令如下：

sudo pip install keras==2.0.9 -i https://pypi.tuna.tsinghua.edu.cn/simple 

2.进行Dynaslam python的检查工作
1)首先进入coco/PythonAPI

cd coco/PythonAPI

执行命令

sudo make install

执行sudo make install 可能会报ImportError: No module named Cython.Build 的错误
解决方案如下：

pip install Cython  -i  https://pypi.tuna.tsinghua.edu.cn/simple/ 
pip install fasttext  -i  https://pypi.tuna.tsinghua.edu.cn/simple/ 

然后重新sudo make install 即可
2)将编译好的pycocotools（在coco/PythonAPI/中）放置到我们下载好的Dynaslam的src/python目录下，然后将数据集mask_rcnn_coco.h5放置在Dynaslam的src/python目录下，这时候src/python目录是这样的

3)打开Check.py 文件将17行的

ROOT_DIR = "src/python"

改为

ROOT_DIR = "./"#测试之后可以重新改过来，改不改问题不大

4）执行

python Check.py #以此检验python部分是否有错误

5）运行第四步的时候必然会报错，原因是缺少依赖，这个时候只需要安装对应的包即可，需要大家有一些调试能力，（不知道如何安装缺失的包，百度或者谷歌均可以）（比如缺失 python-tk package）可以执行以下命令

sudo apt-get install python-tk  #(python2)，如果安装不成功，自行百度，有解决方案
sudo apt-get install python3-tk  #(python3)

6）至此解决完依赖问题，你会看到运行python Check.py 的结果如下：

s@s:~/DynaSLAM-bbescos-feature-carla/src/python$ python Check.py
Using TensorFlow backend.
2020-04-25 15:00:12.757225: I tensorflow/core/platform/cpu_feature_guard.cc:141] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA
Initializing Mask RCNN network...
./
WARNING:tensorflow:From /home/s/.local/lib/python2.7/site-packages/keras/backend/tensorflow_backend.py:1204: calling reduce_max (from tensorflow.python.ops.math_ops) with keep_dims is deprecated and will be removed in a future version.
Instructions for updating:
keep_dims is deprecated, use keepdims instead
WARNING:tensorflow:From /home/s/.local/lib/python2.7/site-packages/keras/backend/tensorflow_backend.py:1238: calling reduce_sum (from tensorflow.python.ops.math_ops) with keep_dims is deprecated and will be removed in a future version.
Instructions for updating:
keep_dims is deprecated, use keepdims instead
Initialated Mask RCNN network...
Mask R-CNN is correctly working

说明python相关的问题就解决了
2.进行c++部分的编译工作首先进行是opencv的编译
首先安装相关的依赖代码如下：

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

执行第三句代码的时候会报错-------出现错误errorE: unable to locate libjasper-dev（这里你可以自行百度解决，也可以直接忽略，进行接下来的步骤）

cd opencv  #cd的路径是你自己的，不要错了

cmake -D WITH_FFMPEG=OFF -D ENABLE_PRECOMPILED_HEADERS=OFF ..

make之前首先进行如下的工作（最好不要用make -j4直接make吧虽然慢点）：（或者opencv 视你的文件名而定）
***找到opencv-2.4.9/build/modules/contrib/CMakeFiles/opencv_contrib.dir/flags.make删掉-Werror=address
***将OpenCVDetectCXXCompiler.cmake的内容替换为如下

# ----------------------------------------------------------------------------
# Detect Microsoft compiler:
# ----------------------------------------------------------------------------
# ----------------------------------------------------------------------------
if(CMAKE_CL_64)
    set(MSVC64 1)
endif()

if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
  set(CMAKE_COMPILER_IS_GNUCXX 1)
  set(CMAKE_COMPILER_IS_CLANGCXX 1)
endif()
if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
  set(CMAKE_COMPILER_IS_GNUCC 1)
  set(CMAKE_COMPILER_IS_CLANGCC 1)
endif()
if("${CMAKE_CXX_COMPILER};${CMAKE_C_COMPILER}" MATCHES "ccache")
  set(CMAKE_COMPILER_IS_CCACHE 1)
endif()

# ----------------------------------------------------------------------------
# Detect Intel ICC compiler -- for -fPIC in 3rdparty ( UNIX ONLY ):
#  see  include/opencv/cxtypes.h file for related   ICC & CV_ICC defines.
# NOTE: The system needs to determine if the '-fPIC' option needs to be added
#  for the 3rdparty static libs being compiled.  The CMakeLists.txt files
#  in 3rdparty use the CV_ICC definition being set here to determine if
#  the -fPIC flag should be used.
# ----------------------------------------------------------------------------
if(UNIX)
  if  (__ICL)
    set(CV_ICC   __ICL)
  elseif(__ICC)
    set(CV_ICC   __ICC)
  elseif(__ECL)
    set(CV_ICC   __ECL)
  elseif(__ECC)
    set(CV_ICC   __ECC)
  elseif(__INTEL_COMPILER)
    set(CV_ICC   __INTEL_COMPILER)
  elseif(CMAKE_C_COMPILER MATCHES "icc")
    set(CV_ICC   icc_matches_c_compiler)
  endif()
endif()

if(MSVC AND CMAKE_C_COMPILER MATCHES "icc|icl")
  set(CV_ICC   __INTEL_COMPILER_FOR_WINDOWS)
endif()

# ----------------------------------------------------------------------------
# Detect GNU version:
# ----------------------------------------------------------------------------
if(CMAKE_COMPILER_IS_CLANGCXX)
  set(CMAKE_GCC_REGEX_VERSION "4.2.1")
  set(CMAKE_OPENCV_GCC_VERSION_MAJOR 4)
  set(CMAKE_OPENCV_GCC_VERSION_MINOR 2)
  set(CMAKE_OPENCV_GCC_VERSION 42)
  set(CMAKE_OPENCV_GCC_VERSION_NUM 402)

  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
                  ERROR_VARIABLE CMAKE_OPENCV_CLANG_VERSION_FULL
                  ERROR_STRIP_TRAILING_WHITESPACE)

  string(REGEX MATCH "version.*$" CMAKE_OPENCV_CLANG_VERSION_FULL "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
  string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_CLANG_REGEX_VERSION "${CMAKE_OPENCV_CLANG_VERSION_FULL}")

elseif(CMAKE_COMPILER_IS_GNUCXX)
  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
                OUTPUT_VARIABLE CMAKE_OPENCV_GCC_VERSION_FULL
                OUTPUT_STRIP_TRAILING_WHITESPACE)

  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
                ERROR_VARIABLE CMAKE_OPENCV_GCC_INFO_FULL
                OUTPUT_STRIP_TRAILING_WHITESPACE)

  # Typical output in CMAKE_OPENCV_GCC_VERSION_FULL: "c+//0 (whatever) 4.2.3 (...)"
  # Look for the version number, major.minor.build
  string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
  if(NOT CMAKE_GCC_REGEX_VERSION)#major.minor
    string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
  endif()

  if(CMAKE_GCC_REGEX_VERSION)
    # Split the parts:
    string(REGEX MATCHALL "[0-9]+" CMAKE_OPENCV_GCC_VERSIONS "${CMAKE_GCC_REGEX_VERSION}")

    list(GET CMAKE_OPENCV_GCC_VERSIONS 0 CMAKE_OPENCV_GCC_VERSION_MAJOR)
    list(GET CMAKE_OPENCV_GCC_VERSIONS 1 CMAKE_OPENCV_GCC_VERSION_MINOR)
  else()#compiler returned just the major version number
    string(REGEX MATCH "[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
    if(NOT CMAKE_GCC_REGEX_VERSION)#compiler did not return anything reasonable
      set(CMAKE_GCC_REGEX_VERSION "0")
      message(WARNING "GCC version not detected!")
    endif()
    set(CMAKE_OPENCV_GCC_VERSION_MAJOR ${CMAKE_GCC_REGEX_VERSION})
    set(CMAKE_OPENCV_GCC_VERSION_MINOR 0)
  endif()

  set(CMAKE_OPENCV_GCC_VERSION ${CMAKE_OPENCV_GCC_VERSION_MAJOR}${CMAKE_OPENCV_GCC_VERSION_MINOR})
  math(EXPR CMAKE_OPENCV_GCC_VERSION_NUM "${CMAKE_OPENCV_GCC_VERSION_MAJOR}*100 + ${CMAKE_OPENCV_GCC_VERSION_MINOR}")
  message(STATUS "Detected version of GNU GCC: ${CMAKE_OPENCV_GCC_VERSION} (${CMAKE_OPENCV_GCC_VERSION_NUM})")

  if(WIN32)
    execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
              OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
              OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
      set(MINGW64 1)
    endif()
  endif()
endif()

if(MSVC64 OR MINGW64)
  set(X86_64 1)
elseif(MINGW OR (MSVC AND NOT CMAKE_CROSSCOMPILING))
  set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "amd64.*|x86_64.*|AMD64.*")
  set(X86_64 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686.*|i386.*|x86.*|amd64.*|AMD64.*")
  set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm.*|ARM.*)")
  set(ARM 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)")
  set(AARCH64 1)
endif()

# Workaround for 32-bit operating systems on 64-bit x86_64 processor
if(X86_64 AND CMAKE_SIZEOF_VOID_P EQUAL 4 AND NOT FORCE_X86_64)
  message(STATUS "sizeof(void) = 4 on x86 / x86_64 processor. Assume 32-bit compilation mode (X86=1)")
  unset(X86_64)
  set(X86 1)
endif()

# Similar code exists in OpenCVConfig.cmake
if(NOT DEFINED OpenCV_STATIC)
  # look for global setting
  if(NOT DEFINED BUILD_SHARED_LIBS OR BUILD_SHARED_LIBS)
    set(OpenCV_STATIC OFF)
  else()
    set(OpenCV_STATIC ON)
  endif()
endif()

if(MSVC)
  if(CMAKE_CL_64)
    set(OpenCV_ARCH x64)
  elseif((CMAKE_GENERATOR MATCHES "ARM") OR ("${arch_hint}" STREQUAL "ARM") OR (CMAKE_VS_EFFECTIVE_PLATFORMS MATCHES "ARM|arm"))
    # see Modules/CmakeGenericSystem.cmake
    set(OpenCV_ARCH ARM)
  else()
    set(OpenCV_ARCH x86)
  endif()
  if(MSVC_VERSION EQUAL 1400)
    set(OpenCV_RUNTIME vc8)
  elseif(MSVC_VERSION EQUAL 1500)
    set(OpenCV_RUNTIME vc9)
  elseif(MSVC_VERSION EQUAL 1600)
    set(OpenCV_RUNTIME vc10)
  elseif(MSVC_VERSION EQUAL 1700)
    set(OpenCV_RUNTIME vc11)
  elseif(MSVC_VERSION EQUAL 1800)
    set(OpenCV_RUNTIME vc12)
  elseif(MSVC_VERSION EQUAL 1900)
    set(OpenCV_RUNTIME vc14)
  elseif(MSVC_VERSION EQUAL 1910)
    set(OpenCV_RUNTIME vc15)
  endif()
elseif(MINGW)
  set(OpenCV_RUNTIME mingw)

  if(MINGW64)
    set(OpenCV_ARCH x64)
  else()
    set(OpenCV_ARCH x86)
  endif()
endif()

然后就可以愉快的make了：

make #或者make -j2 (不可以j4)

最后：

sudo make install

3.opencv编译完事开始eigen3的安装，一句话搞定：

sudo apt-get install libeigen3-dev

4.然后编译安装pangolin

sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt install cmake #这个你已经安装过了应该

然后：

cd Pangolin
mkdir build
cd build 
cmake ..
make -j4

5.安装boot库

 sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev #这个命令不一定正确，大家可以先忽略这一步，后续根据报错信息进行安装缺失的依赖
 sudo apt-get install libboost-all-dev #或者根据这个命令安装boost库

6.修改有错误的文件：
***进入Dynaslam的src中viewer.cc中，按Ctrl+F查找imshow，我们可以看到2个imshow，而且调用之前没有判断，会在某些情况导致程序终止。我们将两句话依次对应替换即可（其实就是先if(!image.empty())判断一下）

 //cv::imshow("DynaSLAM: Current Frame",im);//原版的代码
  //下面是我自己替换的版本
       if(!im.empty())
       {
          cv::imshow("DynaSLAM: Current Frame",im);
       }

        cv::Mat im_dyn = mpFrameDrawer->GetDynamicFrame();
        //cv::imshow("DynaSLAM: Dynamic Frame", im_dyn);原版的代码
//下面是我自己替换的版本
        if(!im_dyn.empty())
       {
          cv::imshow("DynaSLAM: Dynamic Frame", im_dyn);
       }       

7.将Dynaslam根目录中的CMakeLists.txt 以及 Thirdparty中DBoW2和g2o中的CMakeLists.txt文件中的 -match native去掉 (否则会报核心转储的错误)
8.进行最后的编译工作了，进入dynaslam的根目录执行：

bash  build.sh

9.等待片刻，即可编译成功，如有错，应该 也是小错误，自行百度即可。。。。
10.将自己的有行人的数据集放置到Dynaslam根目录中新建的data文件夹并且在data文件夹中新建两个文件夹，看图：
三、执行运行指令

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt ./Examples/RGB-D/TUM3.yaml ./data/rgbd_dataset_freiburg3_walking_rpy/ ./data/rgbd_dataset_freiburg3_walking_rpy/associations.txt ./data/mask ./data/output

如果遇到初始化失败的情况，将对应的TUM文件中的特征点个数调大应该就好了。。。。。。

# ORB Extractor: Number of features per image  #本来是1000
ORBextractor.nFeatures: 3000

至此，全部完结。。。。。。。。。（如遇不明白的欢迎留言交流）
参考大神的知乎文章！！！
参考