SLAM系列——第二讲 初识SLAM\[2022.12\]

系列文章目录

SLAM系列——第一讲 预备知识[2022.12]
SLAM系列——第二讲 初识SLAM[2022.12]
SLAM系列——第三讲 三维空间刚体运动[2022.12]
SLAM系列——第四讲 李群李代数[2022.12]
SLAM系列——第五讲 相机与图像[2022.12]
SLAM系列——第六讲 非线性优化[2022.12]
SLAM系列——第七讲 视觉里程计1[2022.12]
SLAM系列——第八讲 视觉里程计2[2022.12]
SLAM系列——第九讲 后端1[2022.12]
SLAM系列——第十讲 后端2[2022.12]
SLAM系列——第十一讲 回环检测[2022.12]
SLAM系列——第十二讲 建图[2022.12]
SLAM系列——第十三讲 实践：设计SLAM系统[2022.12]
SLAM系列——第十四讲 SLAM：现在与未来[2022.12]

---

---

2.1 引子：小萝卜的例子

详见。

2.2 经典视觉SLAM框架

2.2.1 视觉里程计

详见。

2.2.2 后端优化

详见。

2.2.3 回环检测

详见。

2.2.4 建图

详见。

2.3 SLAM问题的数学表述

详见。

2.4 实践：编程基础

2.4.1 安装Linux操作系统

详见。

2.4.2 Hello SLAM

详见。

2.4.3 使用cmake

详见。

2.4.4 使用库

详见。

Eigen3 编译安装

sudo apt install libeigen3-dev

opencv 编译安装

git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git

cd opencv_contrib
git checkout 3.4.16
cd ..
cd opencv
git checkout 3.4.16

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE  -D INSTALL_C_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D OPENCV_EXTRA_MODULES_PATH=~/Downloads/opencv_contrib/modules -D WITH_IPP=OFF -D WITH_LIBV4L=ON -D WITH_V4L=OFF -D WITH_LAPACK=OFF -D OPENCV_GENERATE_PKGCONFIG=YES ../

sudo make -j16

sudo make install

注意：加上 -D WITH_LAPACK=OFF 以防编译错误：

~/Downloads/opencv/modules/core/src/hal_internal.cpp: In function ‘int lapack_Cholesky(fptype*, size_t, int, fptype*, size_t, int, bool*)’:
~/Downloads/opencv/modules/core/src/hal_internal.cpp:166:23: error: too few arguments to function ‘void sposv_(const char*, const int*, const int*, float*, const int*, float*, const int*, int*, size_t)’
  166 |                 sposv_(L, &m, &n, (float*)a, &lda, (float*)b, &m, &lapackStatus);
      |                 ~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/lapack.h:11,
                 from /usr/include/lapacke.h:36,
                 from ~/Downloads/opencv/build/opencv_lapack.h:12,
                 from ~/Downloads/opencv/modules/core/src/hal_internal.cpp:51:
/usr/include/lapack.h:13002:41: note: declared here
13002 | #define LAPACK_sposv_base LAPACK_GLOBAL(sposv,SPOSV)
      |                                         ^~~~~
/usr/include/lapacke_mangling.h:12:39: note: in definition of macro ‘LAPACK_GLOBAL’
   12 | #define LAPACK_GLOBAL(lcname,UCNAME)  lcname##_
      |                                       ^~~~~~
/usr/include/lapack.h:13003:6: note: in expansion of macro ‘LAPACK_sposv_base’
13003 | void LAPACK_sposv_base(
      |      ^~~~~~~~~~~~~~~~~
...

Pangolin 编译安装

cd 3rdparty/Pangolin
mkdir build
cd build
cmake ..
sudo make -j16
sudo make install

if warning:

CMake Warning (dev) at /usr/share/cmake-3.22/Modules/FindOpenGL.cmake:315 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  src/CMakeLists.txt:155 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

recompile:

cmake -DOpenGL_GL_PREFERENCE=LEGACY ..

if error:

...Pangolin/include/pangolin/gl/colour.h:57:18: error: ‘numeric_limits’ is not a member of ‘std’
   57 |             std::numeric_limits<float>::quiet_NaN(), std::numeric_limits<float>::quiet_NaN(),
      |                  ^~~~~~~~~~~~~~

解决办法是打开报错的文件，即colour.h
在include部分加上

#include <limits>

DBoW3 编译 (ORB-SLAM2中脚本)

cd 3rdparty/DBoW3
mkdir build
cd build
cmake ..
sudo make -j16
sudo make install

注意：编译过程中如出现以下报错信息，在 src/BowVector.h 头文件中添加 “#include ”即可。

In file included from ~/Downloads/slambook2/3rdparty/DBoW3/src/FeatureVector.h:13,
                 from ~/Downloads/slambook2/3rdparty/DBoW3/src/FeatureVector.cpp:10:
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:99:21: error: ‘ostream’ in namespace ‘std’ does not name a type
   99 |         friend std::ostream& operator<<(std::ostream &out, const BowVector &v);
      |                     ^~~~~~~
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:16:1: note: ‘std::ostream’ is defined in header ‘<ostream>’; did you forget to ‘#include <ostream>’?
   15 | #include "exports.h"
  +++ |+#include <ostream>
   16 | #if _WIN32
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:106:31: error: ‘string’ in namespace ‘std’ does not name a type
  106 |         void saveM(const std::string &filename, size_t W) const;
      |                               ^~~~~~
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:16:1: note: ‘std::string’ is defined in header ‘<string>’; did you forget to ‘#include <string>’?
   15 | #include "exports.h"
  +++ |+#include <string>
   16 | #if _WIN32
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:106:49: error: ‘size_t’ has not been declared
  106 |         void saveM(const std::string &filename, size_t W) const;
      |                                                 ^~~~~~
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:109:5: error: ‘uint64_t’ does not name a type
  109 |     uint64_t getSignature()const;
      |     ^~~~~~~~
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:16:1: note: ‘uint64_t’ is defined in header ‘<cstdint>’; did you forget to ‘#include <cstdint>’?
   15 | #include "exports.h"
  +++ |+#include <cstdint>
   16 | #if _WIN32
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:111:24: error: ‘std::ostream’ has not been declared
  111 |     void toStream(std::ostream &str)const;
      |                        ^~~~~~~
~/Downloads/slambook2/3rdparty/DBoW3/src/BowVector.h:112:26: error: ‘std::istream’ has not been declared
  112 |     void fromStream(std::istream &str);
      |                          ^~~~~~~
In file included from ~/Downloads/slambook2/3rdparty/DBoW3/src/FeatureVector.cpp:10:
~/Downloads/slambook2/3rdparty/DBoW3/src/FeatureVector.h:48:15: error: ‘ostream’ in namespace ‘std’ does not name a type
   48 |   friend std::ostream& operator<<(std::ostream &out, const FeatureVector &v);
      |               ^~~~~~~
~/Downloads/slambook2/3rdparty/DBoW3/src/FeatureVector.h:14:1: note: ‘std::ostream’ is defined in header ‘<ostream>’; did you forget to ‘#include <ostream>’?
   13 | #include "BowVector.h"
  +++ |+#include <ostream>
   14 | #include <map>
make[2]: *** [src/CMakeFiles/DBoW3.dir/build.make:118: src/CMakeFiles/DBoW3.dir/FeatureVector.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....

g2o 编译 (ORB-SLAM2中脚本)

cd 3rdparty/g2o
mkdir build
cd build
cmake ..
sudo make -j16
sudo make install

ceres 编译安装

安装依赖项：

sudo apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

编译：

cd 3rdparty/ceres-solver
mkdir build
cd build
cmake ..
sudo make -j16
sudo make install

Sophus 编译安装

cd 3rdparty/Sophus
mkdir build
cd build
cmake ..
sudo make -j16
sudo make install

if errors:

...Sophus/test/core/test_so2.cpp:99:25: error: implicitly-declared ‘Eigen::Map<Sophus::SO2<double> >::Map(const Eigen::Map<Sophus::SO2<double> >&)’ is deprecated [-Werror=deprecated-copy]
   99 |     Eigen::Map<SO2Type> shallow_copy = map_of_so2;
      |                         ^~~~~~~~~~~~

在cmakelist那加一句set(CMAKE_CXX_FLAGS "-Wno-error=deprecated-declarations -Wno-deprecated-declarations ")就行了(article):

# Set compiler specific settings (FixMe: Should not cmake do this for us automatically?)
IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
   SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -Wno-deprecated-register -Wno-deprecated-register -Qunused-arguments -fcolor-diagnostics")
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
   SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")
   SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
   SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -Wextra -std=c++11 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")
   SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")
   SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")
   SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
ELSEIF(CMAKE_CXX_COMPILER_ID MATCHES "^MSVC$")
   ADD_DEFINITIONS("-D _USE_MATH_DEFINES /bigobj /wd4305 /wd4244 /MP")
ENDIF()

set(CMAKE_CXX_FLAGS "-Wno-error=deprecated-declarations -Wno-deprecated-declarations ")

ORB-SLAM2 编译

如遇报错：

~/Downloads/ORB_SLAM2/src/Optimizer.cc:818:37:   required from here
/usr/include/c++/11/bits/stl_map.h:123:71: error: static assertion failed: std::map must have the same value_type as its allocator
  123 |       static_assert(is_same<typename _Alloc::value_type, value_type>::value,
      |                                                                       ^~~~~
/usr/include/c++/11/bits/stl_map.h:123:71: note: ‘std::integral_constant<bool, false>::value’ evaluates to false
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:118: CMakeFiles/ORB_SLAM2.dir/src/LoopClosing.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....

将include/LoopClosing.h第50行改为：

        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
        Eigen::aligned_allocator<std::pair<KeyFrame* const, g2o::Sim3> > > KeyFrameAndPose;

注意：编译过程中如出现以下报错信息，在 include/System.h 头文件中添加 “#include<unistd.h> ”即可。受影响文件有：src/LocalMapping.cc, src/LoopClosing.cc, src/System.cc, src/Tracking.cc, src/Viewer.cc。

~/Downloads/ORB_SLAM2/src/LocalMapping.cc: In member function ‘void ORB_SLAM2::LocalMapping::Run()’:
~/Downloads/ORB_SLAM2/src/LocalMapping.cc:94:17: error: ‘usleep’ was not declared in this scope
   94 |                 usleep(3000);
      |                 ^~~~~~
~/Downloads/ORB_SLAM2/src/LocalMapping.cc:108:9: error: ‘usleep’ was not declared in this scope
  108 |         usleep(3000);
      |         ^~~~~~
~/Downloads/ORB_SLAM2/src/LocalMapping.cc: In member function ‘void ORB_SLAM2::LocalMapping::RequestReset()’:
~/Downloads/ORB_SLAM2/src/LocalMapping.cc:719:9: error: ‘usleep’ was not declared in this scope
  719 |         usleep(3000);
      |         ^~~~~~
In file included from /usr/include/c++/11/map:61,
                 from ~/Downloads/ORB_SLAM2/Thirdparty/DBoW2/DBoW2/BowVector.h:14,
                 from ~/Downloads/ORB_SLAM2/include/KeyFrame.h:25,
                 from ~/Downloads/ORB_SLAM2/include/MapPoint.h:24,
                 from ~/Downloads/ORB_SLAM2/include/Map.h:24,
                 from ~/Downloads/ORB_SLAM2/include/Optimizer.h:24,
                 from ~/Downloads/ORB_SLAM2/src/Optimizer.cc:21:
/usr/include/c++/11/bits/stl_map.h: In instantiation of ‘class std::map<ORB_SLAM2::KeyFrame*, g2o::Sim3, std::less<ORB_SLAM2::KeyFrame*>, Eigen::aligned_allocator<std::pair<const ORB_SLAM2::KeyFrame*, g2o::Sim3> > >’:
~/Downloads/ORB_SLAM2/src/Optimizer.cc:818:37:   required from here
/usr/include/c++/11/bits/stl_map.h:123:71: error: static assertion failed: std::map must have the same value_type as its allocator
  123 |       static_assert(is_same<typename _Alloc::value_type, value_type>::value,
      |                                                                       ^~~~~
/usr/include/c++/11/bits/stl_map.h:123:71: note: ‘std::integral_constant<bool, false>::value’ evaluates to false
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/build.make:76: CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....

2.4.5 使用IDE

详见。

习题

详见。