ubuntu16.04 运行ORBSLAM2 并实现地图栅格化

weixin_48256129

已于 2023-07-16 19:33:24 修改

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文章标签： ubuntu linux 自动驾驶计算机视觉

于 2023-07-15 00:23:44 首次发布

本文链接：https://blog.csdn.net/weixin_48256129/article/details/131495777

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本文详细介绍了在Ubuntu16.04上安装ROS_Kinetic、Pangolinv0.5、OpenCV3.4.5以及ORB-SLAM2的过程，包括每个组件的依赖库安装、源码编译、环境变量配置以及解决遇到的错误和问题，如boost库缺失、OpenCV头文件找不到等。最后，文章还提到了ORB-SLAM2的运行及参数含义。

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ubuntu16.04已经安装了ros_kinetic

安装准备

sudo apt-get install vim
sudo apt-get install git
sudo apt-get install gcc g++

安装Pangolin v0.5

1）安装依赖

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

2）安装Pangolin v0.5

git clone https://github.com/zzx2GH/Pangolin.git
//解压
cd Pangolin-0.5
mkdir build
cd build
cmake ..
sudo make install

源码安装OpenCV-3.4.5

（1）安装依赖

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

opencv提取链接：百度网盘 pan.baidu.com/s/1XFsJMEgD… 提取码slam

解压
cd opencv-3.4.5
mkdir build
cd build
cmake ..
make -j4
sudo make install

（3）配置环境变量

sudo gedit /etc/ld.so.conf.d/opencv.conf

在打开的空白文件中添加 /usr/local/lib （检查一下该路径下是否有OpenCV的各种依赖库）
执行 sudo ldconfig ,使配置的环境变量生效

（4）配置 .bashrc ，末尾添加下面两行

//打开.bashrc
sudo gedit /etc/bash.bashrc
//添加以下两行内容到.bashrc
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH

（5）source 与 update

source /etc/bash.bashrc
sudo updatedb

（6）测试是否正常安装 (成功会出现带 “hello opcv” 字样的窗口)

cd opencv-3.4.5/samples/cpp/example_cmake
cmake .
make
// 如果成功或弹出窗口，显示Hello OpenCV
./opencv_example

注：这里opencv的cmakelists报错不影响他正常使用。

源码安装eigen-3.3.7

wget gitlab.com/libeigen/ei…

解压之后进入eigen文件夹并运行

mkdir build
cd build
cmake ..
sudo make install

#安装后 头文件安装在/usr/local/include/eigen3/
#移动头文件
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include

备注：在很多程序中 include 时经常使用 #include <Eigen/Dense> 而不是使用 #include
<eigen3/Eigen/Dense> 所以要做下处理

安装运行ORB-SLAM2

下载代码：

git clone https://github.com/abhineet123/ORB_SLAM2

进入下载的工程主目录中为脚本文件添加可执行权限并执行，需要注意如果是虚拟机或者电脑性能不好需要打开build.sh文件修改make -j为make -j4或者make -j1，然后再执行。
先执行非ros环境的工程编译：

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

报错：error: ‘usleep’ was not declared in this scope

在提示的对应报错文件中添加：

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

遇到Tracking.cc:39:33: fatal error: cv_bridge/cv_bridge.h: No such file or directory

在CMakeLists.txt文件中加上这一句话：

include_directories( ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR} ${Pangolin_INCLUDE_DIRS} /opt/ros/kinetic/include )

error while loading shared libraries: libboost_system.so.1.54.0不能找到boost链接库

error while loading shared libraries: libboost_system.so.1.54.0不能找到boost链接库_lykhahaha的博客-CSDN博客

ORB_SLAM2 libORB_SLAM2.so: cannot open shared object file: No such file or directory

考入文件

sudo cp /home/zyt/software/ORB_SLAM2/lib/libORB_SLAM2.so /usr/local/lib

赋予权限

sudo chmod 777 libORB_SLAM2.so

error while loading shared libraries: libORB_SLAM2.so: cannot open shared object file: No such file_Simon0529的博客-CSDN博客

出现报错Pangolin X11: Unable to retrieve framebuffer options怎么办？

https://blog.csdn.net/abcwoabcwo/article/details/107959192

出现报错Pangolin X11: Unable to retrieve framebuffer options怎么办？_what(): pangolin x11: unable to retrieve framebuff_abcwoabcwo的博客-CSDN博客

orbslam运行：

./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/zyt/software/ORB_SLAM2/sequences/01

地图栅格化运行:

./Examples/ROS/ORB_SLAM2/Monopub Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/zyt/software/ORB_SLAM2/sequences/01

ros编译

1. 添加环境变量

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/zyt/software/ORB_SLAM2/Examples/ROS

2. 配置运行环境

source ~/.bashrc

报错：

make[2]: *** [../Monopub] Error 1
CMakeFiles/Makefile2:402: recipe for target 'CMakeFiles/Monopub.dir/all' failed
make[1]: *** [CMakeFiles/Monopub.dir/all] Error 2
[ 92%] Linking CXX executable ../Stereo
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:216: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:216: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

确定是boost的问题，网上似乎找不到解决方案，后来自己瞎琢磨，竟然成功了

在ros的cmakelist里添加了boost的依赖库

添加了${Boost_LIBRARIES}依赖