ubuntu20.04搭建ORB-SLAM2系统

1、换源（清华源）

终端里任意目录下sudo gedit /etc/apt/sources.list

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse

2、更新

更新软件列表	sudo apt update
更新软件	sudo apt upgrade

3、基础工具

cmake	sudo apt-get install cmake
git	sudo apt-get install git
g++ ，g++	sudo apt-get install gcc g++

4、Pangolin v0.6(稳定版)的安装

官方下载地址：

https://github.com/stevenlovegrove/Pangolin/archive/refs/tags/v0.6.zip

链接: https://pan.baidu.com/s/14xqc__cDHn5y_88eleXxXg?pwd=9wg9 提取码: 9wg9 复制这段内容后打开百度网盘手机App，操作更方便哦

# 安装依赖项
sudo apt-get install libglew-dev
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
sudo apt-get install libpng-dev

# 配置并编译
cd Pangolin-0.6
mkdir build && cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j
sudo make install

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

若安装成功，则会出现一个正方体。

5、安装opencv-3.4.5

这里给出官方的地址

https://github.com/opencv/opencv/archive/3.4.5.zip

链接: https://pan.baidu.com/s/1KEd5e7QjovOWI1B1fyo3cg?pwd=hwxc 提取码: hwxc 复制这段内容后打开百度网盘手机App，操作更方便哦 

将文件解压到某个位置，在该文件下打开终端

# 安装依赖项
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff5.dev libswscale-dev libjasper-dev 
sudo apt install libcanberra-gtk-module libcanberra-gtk3-module 

# 配置并编译
mkdir build && cd build 
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j4
sudo make install

这里make -j4/j8，根据自己电脑的实际情况来，电脑不好就make。

    #添加库路径
    sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
     
    #更新系统库
    sudo ldconfig

    #配置bash
    sudo gedit /etc/bash.bashrc

在最后加上：

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

#保存，执行如下命令使得配置生效：
source /etc/bash.bashrc 
 
sudo apt-get install mlocate
 
#更新
sudo updatedb  

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

若安装成功则会显示安装的版本，我的就是3.4.5

6、安装Eigen

sudo apt-get install libeigen3-dev

7、下载ORB-SLAM2源码（最好找修改后的源码，不用自己修改）

链接: https://pan.baidu.com/s/1ZTtsHQJOqZ7XYAnDO4UJ3A?pwd=cu26 提取码: cu26 复制这段内容后打开百度网盘手机App，操作更方便哦（修改好了的）

放入文件夹后，打开

cd ORB_SLAM2
chmod +x build.sh
./build.sh

8、下载TUM数据集测试

链接: https://pan.baidu.com/s/12KZu6eBoCe-Kaovz3fp9aA?pwd=dkas 提取码: dkas 复制这段内容后打开百度网盘手机App，操作更方便哦

我下载的rgbd_dataset_freiburg1_xyz，在ORB-SLAM2中新建一个Data文件夹，将数据集放入其中，并解压，然后在ORB-SLAM2终端下输入：

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml ./Data/rgbd_dataset_freiburg1_xyz

-------
Start processing sequence ...
Images in the sequence: 798

New Map created with 77 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 102 points
Stopping all threads...
done
-------

median tracking time: 0.0202899
mean tracking time: 0.0222727

Saving keyframe trajectory to KeyFrameTrajectory.txt ...

trajectory saved!

测试成功！！！