ORB-SLAM2安装与运行(非ROS环境下)

最新推荐文章于 2024-06-27 11:01:57 发布

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最新推荐文章于 2024-06-27 11:01:57 发布

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分类专栏： VSLAM 文章标签： Ubuntu14.04 ORB-SLAM2 非ROS

本文链接：https://blog.csdn.net/zhuquan945/article/details/71794606

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本文详细介绍了如何在Ubuntu14.04系统中，非ROS环境下安装和运行ORB-SLAM2。首先，列举了必要的依赖项，包括C++11编译器、Pangolin、OpenCV2.4.13、Eigen3、BLAS和LAPACK等。然后，逐步指导如何编译ORB-SLAM2库，并分别展示了运行Monocular、Stereo和RGB-D实例的步骤，涉及TUM和KITTI数据集的使用。

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1.Prerequisites

1.1 C++11 or C++0x Compiler

We use the new thread and chrono functionalities of C++11.

所以需要安装C++11编译器，运行：

$ sudo apt-get install gcc g++

1.2 Pangolin

We use [Pangolin](https://github.com/stevenlovegrove/Pangolin) for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

$ sudo apt-get install libglew-dev   #安装Glew  
$ sudo apt-get install cmake         #安装CMake  
    #安装Boost  
$ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev  
$ sudo apt-get install libpython2.7-dev  #安装Python2 / Python3  
   #下载、编译、安装Pangolin:  
$ git clone https://github.com/stevenlovegrove/Pangolin.git  
$ cd Pangolin  
$ mkdir build  
$ cd build  
$ cmake -DCPP11_NO_BOOST=1 ..  
$ make  
$ sudo make install

1.3 OpenCV（2.4.13）

We use [OpenCV](http://opencv.org) to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. **Required at leat 2.4.3. Tested with OpenCV 2.4.11 and OpenCV 3.2**.

$ sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev libavcodec-dev libavformat-dev libswscale-dev  
$ unzip  opencv-2.4.13.zip    
$ cd opencv-2.4.13;mkdir build;cd build;   
$ cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -DINSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -DBUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_OPENGL=ON -DCUDA_GENERATION=Kepler ..      
$ make  
$ sudo make install

#在其中写入: /usr/local/lib  
sudo gedit /etc/ld.so.conf.d/opencv.conf   
 
#在文件末尾写入:    
#PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig   
#export PKG_CONFIG_PATH  
sudo ldconfig sudo gedit/etc/bash.bashrc  
 
#source此脚本  
source /etc/bash.bashrc