ORB-SLAM2 环境搭建和运行测试

本文档是记录orb-slam
buildup的记录，基本参考如下文章：

http://blog.csdn.net/u010128736/article/details/52808650

使用文档记录，一是为了加深印象，二则防止忘记，三则记录文档中不能满足的情况需要再次记录。

http://blog.csdn.net/gubenpeiyuan/article/details/54945356

由于本机已经安装Python，因此此处忽略了参考文章中的Python安装步骤。

在安装Pangolin时候，由于参考文章1和2中不同，按照2中操作，最后一步增加sudo
make install

安装OpenCV方法：

1.
到官网下载OpenCV的source
code： opencv-2.4.11.zip

2.
unzip opencv-2.4.11.zip 解压到Ubuntu

3.进入OpenCV文件夹，配置工程

    mkdir
release

    cd
release

    cmake
-D CMAKE_BUILD_TYPE=RELEASE
-D
CMAKE_INSTALL_PREFIX=/usr/local ..

4.编译和安装

 
  make

 
  sudo
make install

安装Eigen

1.
到官网
下载Eigen：eigen-eigen-5a0156e40feb.zip

2.
解压文件
  unzip
eigen-eigen-5a0156e40feb.zip

3.
编译安装

    mkdir
build

    cd
build

    cmake
..

    make

    sudo
make install

Eigen简介：

是一个涉及线性代数：矩阵，向量，数值计算等相关的算法的C++模板库。

Eigen编译错误，问题出在cmake
..

使用sudo
apt-get install 直接安装。

ORB-SLAM2下载路径：https://github.com/raulmur/ORB_SLAM2

git
clone https://github.com/raulmur/ORB_SLAM2.git

ORB-SLAM官网：http://webdiis.unizar.es/~raulmur/orbslam/

编译ORB-SLAM2

编译时候出错，查问题是属于swap空间不足。调整swap空间，编译OK。（but，很慢）

virtual
memory exhaustedvirtual memory exhausted

下载测试集。

运行命令：

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER1

测试用例带三个参数，其中两个源码包里有，另外一个需要到网上下载测试集。

https://vision.in.tum.de/data/datasets/rgbd-dataset/download

第一次运行成功！（很兴奋～～～浪里格朗）

mechmqx@mechmqx-R467-R464-P467:~/mechmqx/slam/ORB_SLAM2-master$
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt
Examples/Monocular/TUM1.yaml
/home/mechmqx/mechmqx/slam/rgbd_dataset_freiburg1_rpy 

ORB-SLAM2
Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza. 

This
program comes with ABSOLUTELY NO WARRANTY; 

This
is free software, and you are welcome to redistribute it 

under
certain conditions. See LICENSE.txt. 

Input
sensor was set to: Monocular 

Loading
ORB Vocabulary. This could take a while... 

Vocabulary
loaded! 

Camera
Parameters: 

-
fx: 517.306 

-
fy: 516.469 

-
cx: 318.643 

-
cy: 255.314 

-
k1: 0.262383 

-
k2: -0.953104 

-
k3: 1.16331 

-
p1: -0.005358 

-
p2: 0.002628 

-
fps: 30 

-
color order: RGB (ignored if grayscale) 

ORB
Extractor Parameters: 

-
Number of Features: 1000 

-
Scale Levels: 8 

-
Scale Factor: 1.2 

-
Initial Fast Threshold: 20 

-
Minimum Fast Threshold: 7 

-------

Start
processing sequence ... 

Images
in the sequence: 723 

New
Map created with 91 points 

Wrong
initialization, reseting... 

System
Reseting 

Reseting
Local Mapper... done 

Reseting
Loop Closing... done 

Reseting
Database... done 

New
Map created with 107 points 

-------

median
tracking time: 0.0494655 

mean
tracking time: 0.0552974 

Saving
keyframe trajectory to KeyFrameTrajectory.txt ... 

trajectory
saved! 

运行时画面：