【视觉SLAM 14讲】搭建VO 0.2 （VMware Ubuntu18.04）

一、安装依赖：

关于这篇文章的所有依赖库我全部放到网盘上了，或者你也可以去网上下对应的版本，：

链接：https://pan.baidu.com/s/1yEfF0MAeIh2JU46ZyCXmWg?pwd=t5ix
提取码：t5ix

在安装依赖前请确保你的Ubuntu系统有cmake、python2等环境。

① fmt安装：

在网盘中下载好依赖传入虚拟机指定目录

使用unzip fmt-master.zip 解压

编译：

cd fmt-master
mkdir build
cd build
cmake ..
make
sudo make install

② Sophus安装:

在网盘中下载好依赖传入虚拟机指定目录

使用tar -zxvf Sophus.tar.gz 解压

编译：

cd Sophus
mkdir build
cd build
cmake ..
make
sudo make install

③ g2o优化库安装：

在网盘中下载好依赖传入虚拟机指定目录

使用unzip g2o-20230223_git.zip 解压

cd g2o-20230223_git
mkdir build
cd build
cmake ..
make
sudo make install

二、TUM数据集下载

数据集下载主页：https://cvg.cit.tum.de/data/datasets

下载上传到虚拟机指定目录：

解压tar -zxvf rgbd_dataset_freiburg1_xyz.tgz

进入文件夹在这里下载 associate.py 文件（这里的py文件是将rgbdata.txt 和depthdata.txt 转换成生成的associate.txt是rgb在前depth在后的形式）

放到解压后的数据集文件中执行

python associate.py rgb.txt depth.txt > associate.txt

三、编译工程

进入/home/zqh/slambook-master/project/0.2

修改config 文件夹中 yaml配置文件的数据集目录:

编译：

在/home/zqh/slambook-master/project/0.2下执行

mkdir build
cd build
cmake ..
make

报错：

CMakeFiles/run_vo.dir/run_vo.cpp.o: In function `main':
run_vo.cpp:(.text.startup+0xf23): undefined reference to `Sophus::SE3::inverse() const'
run_vo.cpp:(.text.startup+0xf62): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0xf81): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0xfa0): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0xfbf): undefined reference to `Sophus::SO3::matrix() const'
run_vo.cpp:(.text.startup+0xfde): undefined reference to `Sophus::SO3::matrix() const'
CMakeFiles/run_vo.dir/run_vo.cpp.o:run_vo.cpp:(.text.startup+0xffd): more undefined references to `Sophus::SO3::matrix() const' follow
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator=(Sophus::SE3 const&)'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3()'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::log() const'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SE3 const&)'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&) const'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::SE3(Sophus::SO3 const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)'
../../lib/libmyslam.so: undefined reference to `Sophus::SO3::SO3(double, double, double)'
../../lib/libmyslam.so: undefined reference to `Sophus::SE3::operator*(Sophus::SE3 const&) const'
collect2: error: ld returned 1 exit status
test/CMakeFiles/run_vo.dir/build.make:136: recipe for target '../bin/run_vo' failed
make[2]: *** [../bin/run_vo] Error 1
CMakeFiles/Makefile2:140: recipe for target 'test/CMakeFiles/run_vo.dir/all' failed
make[1]: *** [test/CMakeFiles/run_vo.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

CMakeLists.txt中的Sophus

# Sophus
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )

原因分析：
安装Sophus时，有个lib文件“libSophus.so”会出现在/usr/local/lib/libSophus.so 时，libSophus.so 应该被链接到 Sophus_LIBRARIES， cmake没链接上。

应该更改为：

# Sophus
find_package( Sophus REQUIRED )
set(Sophus_LIBRARIES libSophus.so)
include_directories( ${Sophus_INCLUDE_DIRS} )

编译通过

返回到/home/zqh/slambook-master/project/0.2 执行：

bin/run_vo config/default.yaml

出现错误：

将CMakeLists.txt中的Sophus改为：

# Sophus
find_package( Sophus REQUIRED )
set(Sophus_LIBRARIES /usr/local/lib/libSophus.so)
include_directories( ${Sophus_INCLUDE_DIRS} )

再次执行：

bin/run_vo config/default.yaml