ORBSLAM2安装

ORBslam2安装

1.下载

bash下输入

cd ..
mkdir orb_demo
cd orb_demo
mkdir src
cd src


cd ~/orb_demo/src

git clone https://github.com/ktossell/libuvc
git clone https://github.com/stevenlovegrove/Pangolin.git
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
sudo apt-get install libglew-dev -y

　　

2.编译

 

cd ~/orb_demo
cd src
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install

　　

3.

 

cd ~/orb_demo/src/Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j

　　

4.

 

cd ~/orb_demo/src
cd ORB_SLAM2
chmod +x build.sh
sh build.sh

6.测试

cd /home/jo/workspace/orb_demo/src/ORB_SLAM2/Examples/Monocular

./mono_tum /home/jo/workspace/orb_demo/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/jo/workspace/orb_demo/src/ORB_SLAM2/Examples/Monocular/TUM1.yaml /home/jo/workspace/orb_demo/src/dataset/rgbd_dataset_freiburg1_floor
#第一个是mono_tum可执行文件，第二个是ORBvoc.txt文件，第三个是TUM.yaml，第四个是数据集文件

 

5.ros下编译

～/.bashrc中写入(如果用的是zsh就~/.zshrc)

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/jo/orb_demo/src/ORB_SLAM2/Examples/ROS　　

编译

cd /home/jo/orb_demo/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2

mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make -j

source /home/jo/orb_demo/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel/setup.bash
#如果用的zsh就要用setup.zsh

或者

cd /home/jo/orb_demo/src/ORB_SLAM2
./build_ros.sh

 

　6.常见错误：

　　1 ）boost库问题

 

make[2]: *** No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../Stereo'. Stop.
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed

　　

改/home/jo/orb_demo/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2目录下的cmakelist

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

加上黄色的这句话

　　2）ros下编译时出现 CMake Error at /opt/ros/melodic/share/ros/core/rosbuild/public.cmake:129 

　　　　参考链接https://blog.csdn.net/Robot_Starscream/article/details/90245477

　　3）/usr/lib/x86_64-linux-gnu/libboost_system.so: 无法添加符号: DSO missing from command line

　　　　参考链接：https://blog.csdn.net/weixin_45617478/article/details/104490786

　　　　或者错误1）

　

其他错误，参考：https://blog.csdn.net/panxiying1993/article/details/61922162

安装参考：https://blog.csdn.net/u014709760/article/details/85253525

 

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安装摄像头驱动：https://www.cnblogs.com/haijian/p/10847457.html

用摄像头跑ORBSLAM2

终端1：

roscore

 终端2：

roslaunch usb_cam usb_cam-test.launch

终端3：（没有标定直接用TMU的yaml文件跑了，直接在工作目录搜索就可以找到）

rosrun ORB_SLAM2 Mono /home/jo/workspace/orb_demo/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/jo/workspace/orb_demo/src/ORB_SLAM2/Examples/Monocular/TUM1.yaml

 问题：总是出现waiting for image并且黑屏

解决方案参考：https://blog.csdn.net/poulang5786/article/details/79249755