[学习记录]ORB-SLAM2编译运行

ORB-SLAM2编译问题：

提示：非ROS版、学习记录、搬运工

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（1）编译ORB-SLAM2时，报错：error: usleep is not declared this scope

解决：在/include/System.h文件中添加头文件
（在一个博客中的给的github链接上找到的解决方案）

#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>

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（2）注意c++14标准问题

报错：报错一堆的错误，应该能大概判断出是标准问题
解决：CMakeLists，源码写的是c++11标准，去把文本中的11全改成14

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（3）编译报错/usr/bin/ld找不到-lEigen3::Eigen

不是eigen库的问题，是pangolin版本不兼容问题
编译pangolin时，eigen有问题
解决：如图把CMakeLists.txt 中的find_package(Eigen3 3.1.0 REQUIRED)改成find_package(Eigen3 3.1.0 REQUIRED NO_MODULE)
-------------------------------------------------------------------------

完整CmakeLists.txt如下

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)# 完整CmakeLists.txt如下

  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 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()

find_package(Eigen3 3.1.0 REQUIRED NO_MODULE)
find_package(Pangolin REQUIRED)

#include_directories("/usr/include/eigen3")

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

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ORB-SLAM2运行

运行时需要四个参数

./可执行文件 执行字典 执行yaml文件 要读取的数据集

我自己电脑的示例：

./stereo_kitti ../../Vocabulary/ORBvoc.txt KITTI00-02.yaml ../../../../kitti/sequences/00/

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学习记录：只为记录自己遇到的问题，供以后遇到时快速回顾，请理性参考