ubuntu16.04下ORB_SLAM2的配置

1 依赖安装

安装过程参考本文4.1 — 4.3

1.1 Pangolin

1.2 OpenCV

1.3 Eigen3

2 ORB_SLAM2安装

下载地址

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

3 运行效果

• 处理 TUM 数据集

下载 associate.py 放入数据集的根目录

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

• 在 orb_slam2 文件夹下创建 data 文件夹，放入处理好的 TUM 数据集
• 在 orb_slam2 根目录下运行

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml data/rgbd_dataset_freiburg3_walking_xyz data/rgbd_dataset_freiburg3_walking_xyz/associated.txt 

4 问题

• 如果编译过程中出现error： usleep() 没有声明的情况，在 include 文件夹下对应的 System.h 文件中加入以下声明

#include<unistd.h>

• /opt/ros/kinetic/lib/x86_64-linux-gnu/libopencv_imgcodecs3.so.3.3.1：对‘TIFFReadDirectory@LIBTIFF_4.0’

在CMakeLists.txt文件文件中添加：

target_link_libraries(${PROJECT_NAME}
    ${OpenCV_LIBS} /usr/lib/x86_64-linux-gnu/libtiff.so.5 
  )

• 删除orb_slam下的build文件夹，直接打开终端

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j8

5 编译build_ros

5-1 编译问题

1. [rosbuild] rospack found package “ORB_SLAM2” at “”, but the current
   directory is “/home/angelo/ORB_SLAM2/Examples/ROS/ORB_SLAM2”. You
   should double-check your ROS_PACKAGE_PATH to ensure that packages
   are found in the correct precedence order.

sudo ln -s ~/orb_slam2/Examples/ROS/ORB_SLAM2 /opt/ros/kinetic/share/ORB_SLAM2

2. /home/zxy/orb_slam2/Examples/ROS/ORB_SLAM2/…/…/…/Thirdparty/g2o/g2o/types/…/core/jacobian_workspace.h:30:22:
   fatal error: Eigen/Core: 没有那个文件或目录

***在cmakelists中加入:
include_directories("/usr/include/eigen3")

3. undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’

在cmakelists中加入: -lboost_system

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_SLAM2.so
-lboost_system
)

5-2 运行

rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/ROS/ORB_SLAM2/Asus.yaml

1. Failed to open settings file at: Examples/ROS/ORB_SLAM2/Asus.yaml

执行文件同时连接了opencv2 与 opencv3
在保留之前安装的OPENCV2的情况下在电脑上再安装一个OPENCV3

cd opencv-3.4.5

sudo apt-get install cmake
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev
sudo apt-get install qt5-default

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -DWITH_CUDA=OFF ..
make -j8
sudo make install

安装OPENCV3后，修改ORB-SLAM2/CMakeLists.txt,将自己安装opencv3库的路径设置到OpenCV_DIR中

set(OpenCV_DIR /usr/local/opencv3/share/OpenCV)

原文