Ubuntu16.04安装LSD-SLAM的过程、注意事项以及可能出现的错误:
LSD-SLAM官网:https://vision.in.tum.de/research/vslam/lsdslam
LSD-SLAM Github:https://github.com/tum-vision/lsd_slam
安装LSD-SLAM之前,必须先安装ROS kinetic,可以参考:点击打开链接
1. 安装LSD-SLAM
1.1 创建rosbuild工作空间:
sudo apt-get install python-rosinstall
mkdir ~/rosbuild_ws
cd ~/rosbuild_ws
rosws init . /opt/ros/kinetic
mkdir package_dir
rosws set ~/rosbuild_ws/package_dir -t .
echo "source ~/rosbuild_ws/setup.bash" >> ~/.bashrc
bash
cd package_dir
1.2 安装依赖
sudo apt-get install ros-kinetic-libg2o ros-kinetic-cv-bridge liblapack-dev libblas-dev freeglut3-dev libqglviewer-dev libsuitesparse-dev libx11-dev
注:请不要安装上述依赖中的libqglviewer-dev,否则,在运行LSD-SLAM时会出现realloc(): invalid pointer错误。
请参考下面的问题2.1安装libqglviewer-dev-qt4,并创建相关链接。
1.3 获取LSD-SLAM
git clone https://github.com/tum-vision/lsd_slam.git lsd_slam
1.4 编译