在网上看到了pangjing的VI-ORB代码:https://github.com/jingpang/LearnVIORB
代码是根据这篇文章写的:Mur-Artal, R., & Tardós, J. D. (2017). Visual-inertial monocular slam with map reuse. IEEE Robotics & Automation Letters, 2(2), 796-803.
该文章是ORB-SLAM的作者在ORB-SLAM的基础上加入了惯性信息进行SLAM,具体文章过两天再看,先把pangjing的程序跑起来看看再说,在运行的过程中发现了一些问题,在此记录一下。
首先下载代码,我下载到home/wys/ORBSLAM/中,文件夹名称为LearnVIORB-RT,进入文件夹:
cd LearnVIORB-RT
在config/euroc.yaml文件中修改需要储存结果的路径以及读取数据的路径
然后编译:
./build.sh
编译时出现了错误:
CMake Error at CMakeLists.txt:33 (find_package):
Could not find a configuration file for package "OpenCV" that is compatible
with requested version "2.4.3".
The following configuration files were considered but not accepted:
/opt/ros/kinetic/share/OpenCV-3.2.0-dev/OpenCVConfig.cmake, version: 3.2.0
/usr/local/share/OpenCV/OpenCVConfig.cmake, version: 3.2.0
这是因为CMakeLists.txt中要求的opencv版本是