ORB-SLAM2使用TUM深度相机、KITTI单目双目、自己摄像头

安装依赖

    sudo apt-get install libglew-dev   #安装Glew
    sudo apt-get install cmake         #安装CMake 3
    #安装Boost
    sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

编译安装Pangolin

    编译安装Pangolin:

    git clone https://github.com/stevenlovegrove/Pangolin.git
    cd Pangolin
    mkdir build
    cd build
    cmake ..
    make

安装OPENCV、Eigen、g2o、BLAS and LAPACK、DBoW2 and g2o (Included in Thirdparty folder)等

见https://www.cnblogs.com/ilym/p/9080141.html
编译ORB_SLAM2

    git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
    cd ORB_SLAM2
    chmod +x build.sh
    ./build.sh

    注意：首先将build.sh中最后一行的make -j 改为make ,否则容易死机
    等待一段时间，就编译成功了！

    编译完成后生成libORB_SLAM2.so，其位于lib目录下，

    生成的可执行程序mono_tum, mono_kitti, rgbd_tum, stereo_kitti, mono_euroc and stereo_euroc，位于Examples目录下。

RGB-D实例，TUM数据集

    #首先把rgb和depth合成assocaite
    python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt

    #然后进入ORB-SLAM2执行
    ./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE
    #如
    ./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM2.yaml /home/ttwang/ORB_SLAM2/rgbd_dataset_freiburg2_pioneer_360 /home/ttwang/ORB_SLAM2/rgbd_dataset_freiburg2_pioneer_360/associations.txt

单目实例，KITTI左目图像

    #使用该数据集，运行下面的命令：
    ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

    #针对上述命令，做如下修改：
    #将KITTIX.yaml改为 KITTI00-02.yaml、KITTI03.yaml、KITTI04-12.yaml其中之一即可
    #PATH_TO_DATASET_FOLDER修改为所下载数据集合放置的位置

    #如
    ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTI04-12.yaml ~/KITTI/04/

双目实例，KITTI

    #使用该数据集，运行下面的命令：
    ./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER

    #针对上述命令，做如下修改：
    #将KITTIX.yaml改为 KITTI00-02.yaml、KITTI03.yaml、KITTI04-12.yaml其中之一即可
    #PATH_TO_DATASET_FOLDER修改为所下载数据集合放置的位置

    #如
    ./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTI04-12.yaml ~/KITTI/04/

ROS包，笔记本摄像头实例

    #建立ROS工作空间，把ORB-SLAM2整个放进去src
    catkin_make
    cd ~/catkin_ws/src

    #将包含Examples/ROS/ORB_SLAM2的路径添加到ROS_PACKAGE_PATH环境变量中。
    #打开.bashrc文件并在最后添加以下行,其中PATH为ORB-SLAM2项目所在路径
    export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/PATH/TO/ORB_SLAM2/Examples/ROS

    source ~/.bashrc
    #修改ROS/ORB-SLAM2/src/ros_mono.cc中订阅的摄像头话题
    #/camera改为自己的如 /usb_cam
       ros::Subscriber sub = nodeHandler.subscribe("/usb_cam/image_raw", 1, &ImageGrabber::GrabImage,&igb);

    #编译orb的ros包
    chmod +x build_ros.sh
    ./build_ros.sh

    #启动摄像头
    roslaunch usb_cam usb_cam-test.launch

    #启动实时slam
    rosrun ORB_SLAM2 Mono ~/ORB_SLAM_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/ORB_SLAM_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/Asus.yaml

编译ros包遇到的问题

`/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line

出错原因为：libboost_system.so 与libboost_filesystem.so找不到链接目录
解决方案为

    locate boost_system //查找到目录

    locate boost_filesystem //查找到目录

将libboost_system.so、libboost_filesystem.so、
libboost_system.so.1.58.0、libboost_filesystem.so.1.58.0复制到ORB_SLAM2/lib下
并且将ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入库目录，具体为

在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
之后加入
${PROJECT_SOURCE_DIR}/…/…/…/lib/libboost_filesystem.so
${PROJECT_SOURCE_DIR}/…/…/…/lib/libboost_system.so

重新运行.sh即可

F.D.I.O.E.H.R

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