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搭建ORB-SLAM2运行环境

作者:互联网

1、依赖包安装

a、CMake:

$ sudo apt-get install cmake

b、Pangolin:

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

$ cd Pangolin

$ mkdir build && cd build

$ cmake …

$ cmake --build .

c、OpenCV:

1)依赖库:

$ sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev python-numpy python-matplotlib libxvidcore-dev libx264-dev libboost-all-dev libflann1.8 libflann-dev libopenni2-dev

2)进入页面下载opencv-3.4.11.zip ,完成下载后打开所在文件夹进行解压:

$ unzip opencv-3.4.11.zip

3)依次执行以下命令:

$ cd opencv-3.4.11

$ mkdir build && cd build

$ cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local …

$ make -j4

$ sudo make install

d、Eigen3:

$ sudo apt-get install libeigen3-dev

e、PCL:

$ sudo apt install libpcl-dev

($ git clone https://github.com/PointCloudLibrary/pcl.git

$ cd pcl

$ mkdir build && cd build

$ cmake …; make

$ sudo make install)

f、VTK6:

$ sudo apt-get install libvtk6-dev libvtk6.2

g、octomap:

$ git clone https://github.com/OctoMap/octomap

$ mkdir build; cd build

$ cmake …; make -j4

$ sudo make install

h、qt5:

1)下载文件qt-opensource-linux-x64-5.12.9.run: https://download.qt.io/official_releases/qt/

2)安装依赖库:

$ sudo apt-get install build-essential

$ sudo apt-get install libx11-dev libxext-dev libxtst-dev

$ sudo apt-get install xlibmesa-gl-dev libglu1-mesa-dev

3)安装qt,一路next即可:

$ chmod +x qt-opensource-linux-x64-5.12.9.run

$ ./qt-opensource-linux-x64-5.12.9.run

2、编译安装ORB-SLAM2

a、下载修改版ORB-SLAM2:

$ git clone https://github.com/Quitino/IndoorMapping

b、编译g2o:

$ cd IndoorMapping/Thirdparty/g2o

$ mkdir build && cd build

$ cmake …; make

c、编译DBoW2:

$ cd …/…/DBoW2

$ mkdir build && cd build

$ cmake …; make

d、编译整个工程:

$ cd …/…/…

$ mkdir build && cd build

$ cmake … //可能出现VTK文件找不到的问题

$ make

3、下载fr1_desk数据集,并移动到工程根目录下的Dataset目录

4、使用工程根目录下的脚本测试运行:

$ ./fr1_desk.sh

标签:cmake,sudo,dev,cd,SLAM2,build,install,ORB,搭建
来源: https://blog.csdn.net/renmengqisheng/article/details/120650393