Ubuntu16.04下 ORB_SLAM2的安装、配置和实例运行

文章目录1、安装相关工具2、安装Pangolin3、安装opencv4、安装Eigen35、安装ORB-SLAM26、运行SLAM实例7、遇到的问题8、参考文献 1、安装相关工具

①更新apt

sudo apt-get update

②安装git

sudo apt-get install git

③安装cmake

sudo apt-get install cmake

④安装gcc、g++

sudo apt-get install g++ sudo apt-get install gcc 2、安装Pangolin

①安装依赖项

sudo apt-get install libglew-dev libpython2.7-dev

②下载Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git

③编译安装

cd Pangolin mkdir build cd build cmake .. make -j sudo make install

3、安装opencv

①安装依赖项

sudo apt-get install build-essential sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

②下载opencv

wget -O opencv-3.4.1.zip https://github.com/Itseez/opencv/archive/3.4.1.zip

③解压opencv包

unzip opencv-3.4.1.zip

④编译并安装

cd ~/opencv-3.4.1 mkdir build cd build cmake -D CMAKE_BUILD_TYPE=Release –D CMAKE_INSTALL_PREFIX=/usr/local ..

⑤

make -j8

⑥将编译后的文件安装到系统

sudo make install

⑦配置编译环境，将OpenCV的库添加到路径

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

⑧使配置路径生效

sudo ldconfig

⑨配置bash，在末尾添加如下代码

sudo gedit /etc/bash.bashrc

⑩使配置生效

source /etc/bash.bashrc 4、安装Eigen3 sudo apt-get install libeigen3-dev 5、安装ORB-SLAM2

①下载ORB-SLAM2

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

②编译ORB-SLAM2

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

③配置环境

sudo gedit ~/.bashrc source ./catkin_ws/devel/setup.sh

添加以下代码，注意修改为自己设置的路径

④使修改的文件生效

source ~/.bashrc

⑤修改Examples/ROS/ORB_SLAM2/文件夹下的CMakeLists.txt文件，添加如下代码

cd catkin_ws/src/ORB_SLAM2 chmod +x build_ros.sh ./build_ros.sh

6、运行SLAM实例

①从http://vision.in.tum.de/data/datasets/rgbd-dataset/download下载数据集并解压

②编译，注意修改为自己的路径

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txtExamples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER

7、遇到的问题

在编译ORB-SLAM2时出现错误，出错提示是：无法分配内存

解决办法：手动增加swap空间，代码如下

sudo -s dd if=/dev/zero of=/tmp/newdisk bs=1M count=8000 //分配8G du -sh /tmp/newdisk mkswap -f /tmp/newdisk free -m chmod 0600 /tmp/newdisk

8、参考文献

①https://my.oschina.net/u/3707314/blog/1560180

②https://blog.csdn.net/qq_42585108/article/details/105519029

作者：p唯唯唯eng

orb slam ubuntu 运行 安装