项目要用到视觉导航和建图,但是ROS noetic版本安装全桌面版直接安装了opencv4.2,而ORB_SLAM2仅仅支持到opencv3+,故需要进行部分修改,下面记录了全过程,整理后备用及给他人一些思路。
以下三个文章给了较大启发:
https://blog.csdn.net/Carminljm/article/details/86353775
https://www.jianshu.com/p/f39bf76cfc61
https://blog.csdn.net/K4762/article/details/105270600
步骤:
检查自己ROS noetic是否是完整版,然后按序执行:
1.安装git cmake 和一些库
sudo apt-get install git cmake
sudo apt-get install libblas-dev liblapack-dev
2.安装Pangolin
sudo apt-get install libglew-dev
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install libpython2.7-dev
sudo apt-get install build-essential
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make
3.安装OpenCV 注:ROS noetic已经安装了opencv4.2,此步骤不必执行
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
OpenCV
OpenCV的版本:Required at leat 2.4.3. Tested with OpenCV 2.4.11 and OpenCV 3.2.
我装的是3.2.0
下载完后解压,进入OpenCV文件夹进行编译安装(opencv下哪问题好像都不大)
mkdir release
cd release
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
make
sudo make install
4.Eigen3
我发现这一趟安装下来,用pkg-config --modversion eigen3查看eigen3的版本已经有3.2.92,就没继续装eigen3了
版本要求:Required at least 3.1.0.
据说:下载3.2.10版本,如果用3.3.x版本可能会造成ORB-SLAM2编译失败,因为eigen3.3.4版本修改了文件目录结构。
5.ORB_SLAM2
cd catkin_ws
git clone https://github.com/raulmur/ORB_SLAM2.git
cd ORB_SLAM2
chmod +x build.sh
nano build.sh
此步骤可以将build.sh的make -j改成make 防止多线程编译错误或者死机。
./build.sh
此时可能会出现typedef allocator的错误,按照下述内容修改:
https://github.com/raulmur/ORB_SLAM2/pull/585/commits/d5c04468ce85d600f8a0a23fa280b0153fe115e0
找到
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
改为:
Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;
然后继续
./build.sh
此时,返回到~目录下
gedit .bashrc
写入export
ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/(user)/catkin_ws/ORB_SLAM2/Examples/ROS
接着去编译build_ros.sh
chmod +x build.sh
可以同上步一样,将build_ros.sh的make -j改成make
nano build_ros.sh
在/Examples/ROS/ORB-SLAM2/CMakeLists.txt文件下修改 加上 -lboost_system(我没加这个的时候会有关于stl的错误)
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 #此处
)
./build_ros.sh
编译会产生关于opencv的错误,类似"FATAL_ERROR "OpenCV > 2.4.3 not found."的错误
解决办法:
①修改cmakelist.txt,将opencv3.0改为4.2,我遇到两个地方,一个是orbslam2文件夹,另一个好像是DBoW2文件夹,可以根据错误信息查看。
find_package(OpenCV 4.2 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()
②多个文件出现#include <opencv/cv.h>的错误
这个问题主要是opencv4更换了一些定义,需要替换为:
#include<opencv2/imgproc/imgproc_c.h>
#include <opencv2/highgui/highgui_c.h>
③CV_LOAD_IMAGE_UNCHANGED的错误
同样的,在opencv4中名称也改了不少,对应处替换为:
cv::IMREAD_UNCHANGED
以上3点全部修改后,可以正常
./build_ros.sh
至此,编译完成