ubuntu18安装ORB-SLAM3并跑通TUM数据集
作者：互联网
#笔记本配置：i7 10750H+nvidia1650+ubuntu18.04.05
#软件与更新中换源 阿里云；显卡驱动为470版本
主要参考教程：https://blog.csdn.net/jihaoweizzz/article/details/109824857
1.源码安装eigen3.3.9
2.源码安装Pangolin v0.6
3.opencv3.4.5
libjasper.dev找不到的话：google到解决办法，复制到这里
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev
成功的解决了问题，其中libjasper1是libjasper-dev的依赖包
参考教程:https://www.jianshu.com/p/f646448da265
实测4.4.0版本和3.2.0版本opencv在安装时顺利通过编译，但在ORBSLAM3中会报段错误。
4.boost安装：https://www.jianshu.com/p/4c621a34ba69
版本1.76.0
5.编译orbslam3时会报error: x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);
解决方法：https://www.icode9.com/content-3-961807.html
1./home/dlwlrma/ORB_SLAM3-master/src/cameramodels里的KannalaBrandt8.cpp中搜索"x3D =" ,注
释掉出错的那句话。
2./home/dlwlrma/ORB_SLAM3-master/src里的LocalMapping.cc里，替换上版函数。
void LocalMapping::CreateNewMapPoints()
{
// Retrieve neighbor keyframes in covisibility graph
int nn = 10;
// For stereo inertial case
if(mbMonocular)
nn=20;
vector<KeyFrame*> vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn);
if (mbInertial)
{
KeyFrame* pKF = mpCurrentKeyFrame;
int count=0;
while((vpNeighKFs.size()<=nn)&&(pKF->mPrevKF)&&(count++<nn))
{
vector<KeyFrame*>::iterator it = std::find(vpNeighKFs.begin(), vpNeighKFs.end(), pKF->mPrevKF);
if(it==vpNeighKFs.end())
vpNeighKFs.push_back(pKF->mPrevKF);
pKF = pKF->mPrevKF;
}
}
float th = 0.6f;
ORBmatcher matcher(th,false);
cv::Mat Rcw1 = mpCurrentKeyFrame->GetRotation();
cv::Mat Rwc1 = Rcw1.t();
cv::Mat tcw1 = mpCurrentKeyFrame->GetTranslation();
cv::Mat Tcw1(3,4,CV_32F);
Rcw1.copyTo(Tcw1.colRange(0,3));
tcw1.copyTo(Tcw1.col(3));
cv::Mat Ow1 = mpCurrentKeyFrame->GetCameraCenter();
const float &fx1 = mpCurrentKeyFrame->fx;
const float &fy1 = mpCurrentKeyFrame->fy;
const float &cx1 = mpCurrentKeyFrame->cx;
const float &cy1 = mpCurrentKeyFrame->cy;
const float &invfx1 = mpCurrentKeyFrame->invfx;
const float &invfy1 = mpCurrentKeyFrame->invfy;
const float ratioFactor = 1.5f*mpCurrentKeyFrame->mfScaleFactor;
// Search matches with epipolar restriction and triangulate
for(size_t i=0; i<vpNeighKFs.size(); i++)
{
if(i>0 && CheckNewKeyFrames())// && (mnMatchesInliers>50))
return;
KeyFrame* pKF2 = vpNeighKFs[i];
GeometricCamera* pCamera1 = mpCurrentKeyFrame->mpCamera, *pCamera2 = pKF2->mpCamera;
// Check first that baseline is not too short
cv::Mat Ow2 = pKF2->GetCameraCenter();
cv::Mat vBaseline = Ow2-Ow1;
const float baseline = cv::norm(vBaseline);
if(!mbMonocular)
{
if(baseline<pKF2->mb)
continue;
}
else
{
const float medianDepthKF2 = pKF2->ComputeSceneMedianDepth(2);
const float ratioBaselineDepth = baseline/medianDepthKF2;
if(ratioBaselineDepth<0.01)
continue;
}
// Compute Fundamental Matrix
cv::Mat F12 = ComputeF12(mpCurrentKeyFrame,pKF2);
// Search matches that fullfil epipolar constraint
vector<pair<size_t,size_t> > vMatchedIndices;
bool bCoarse = mbInertial &&
((!mpCurrentKeyFrame->GetMap()->GetIniertialBA2() && mpCurrentKeyFrame->GetMap()->GetIniertialBA1())||
mpTracker->mState==Tracking::RECENTLY_LOST);
matcher.SearchForTriangulation(mpCurrentKeyFrame,pKF2,F12,vMatchedIndices,false,bCoarse);
cv::Mat Rcw2 = pKF2->GetRotation();
cv::Mat Rwc2 = Rcw2.t();
cv::Mat tcw2 = pKF2->GetTranslation();
cv::Mat Tcw2(3,4,CV_32F);
Rcw2.copyTo(Tcw2.colRange(0,3));
tcw2.copyTo(Tcw2.col(3));
const float &fx2 = pKF2->fx;
const float &fy2 = pKF2->fy;
const float &cx2 = pKF2->cx;
const float &cy2 = pKF2->cy;
const float &invfx2 = pKF2->invfx;
const float &invfy2 = pKF2->invfy;
// Triangulate each match
const int nmatches = vMatchedIndices.size();
for(int ikp=0; ikp<nmatches; ikp++)
{
const int &idx1 = vMatchedIndices[ikp].first;
const int &idx2 = vMatchedIndices[ikp].second;
const cv::KeyPoint &kp1 = (mpCurrentKeyFrame -> NLeft == -1) ? mpCurrentKeyFrame->mvKeysUn[idx1]
: (idx1 < mpCurrentKeyFrame -> NLeft) ? mpCurrentKeyFrame -> mvKeys[idx1]
: mpCurrentKeyFrame -> mvKeysRight[idx1 - mpCurrentKeyFrame -> NLeft];
const float kp1_ur=mpCurrentKeyFrame->mvuRight[idx1];
bool bStereo1 = (!mpCurrentKeyFrame->mpCamera2 && kp1_ur>=0);
const bool bRight1 = (mpCurrentKeyFrame -> NLeft == -1 || idx1 < mpCurrentKeyFrame -> NLeft) ? false
: true;
const cv::KeyPoint &kp2 = (pKF2 -> NLeft == -1) ? pKF2->mvKeysUn[idx2]
: (idx2 < pKF2 -> NLeft) ? pKF2 -> mvKeys[idx2]
: pKF2 -> mvKeysRight[idx2 - pKF2 -> NLeft];
const float kp2_ur = pKF2->mvuRight[idx2];
bool bStereo2 = (!pKF2->mpCamera2 && kp2_ur>=0);
const bool bRight2 = (pKF2 -> NLeft == -1 || idx2 < pKF2 -> NLeft) ? false
: true;
if(mpCurrentKeyFrame->mpCamera2 && pKF2->mpCamera2){
if(bRight1 && bRight2){
Rcw1 = mpCurrentKeyFrame->GetRightRotation();
Rwc1 = Rcw1.t();
tcw1 = mpCurrentKeyFrame->GetRightTranslation();
Tcw1 = mpCurrentKeyFrame->GetRightPose();
Ow1 = mpCurrentKeyFrame->GetRightCameraCenter();
Rcw2 = pKF2->GetRightRotation();
Rwc2 = Rcw2.t();
tcw2 = pKF2->GetRightTranslation();
Tcw2 = pKF2->GetRightPose();
Ow2 = pKF2->GetRightCameraCenter();
pCamera1 = mpCurrentKeyFrame->mpCamera2;
pCamera2 = pKF2->mpCamera2;
}
else if(bRight1 && !bRight2){
Rcw1 = mpCurrentKeyFrame->GetRightRotation();
Rwc1 = Rcw1.t();
tcw1 = mpCurrentKeyFrame->GetRightTranslation();
Tcw1 = mpCurrentKeyFrame->GetRightPose();
Ow1 = mpCurrentKeyFrame->GetRightCameraCenter();
Rcw2 = pKF2->GetRotation();
Rwc2 = Rcw2.t();
tcw2 = pKF2->GetTranslation();
Tcw2 = pKF2->GetPose();
Ow2 = pKF2->GetCameraCenter();
pCamera1 = mpCurrentKeyFrame->mpCamera2;
pCamera2 = pKF2->mpCamera;
}
else if(!bRight1 && bRight2){
Rcw1 = mpCurrentKeyFrame->GetRotation();
Rwc1 = Rcw1.t();
tcw1 = mpCurrentKeyFrame->GetTranslation();
Tcw1 = mpCurrentKeyFrame->GetPose();
Ow1 = mpCurrentKeyFrame->GetCameraCenter();
Rcw2 = pKF2->GetRightRotation();
Rwc2 = Rcw2.t();
tcw2 = pKF2->GetRightTranslation();
Tcw2 = pKF2->GetRightPose();
Ow2 = pKF2->GetRightCameraCenter();
pCamera1 = mpCurrentKeyFrame->mpCamera;
pCamera2 = pKF2->mpCamera2;
}
else{
Rcw1 = mpCurrentKeyFrame->GetRotation();
Rwc1 = Rcw1.t();
tcw1 = mpCurrentKeyFrame->GetTranslation();
Tcw1 = mpCurrentKeyFrame->GetPose();
Ow1 = mpCurrentKeyFrame->GetCameraCenter();
Rcw2 = pKF2->GetRotation();
Rwc2 = Rcw2.t();
tcw2 = pKF2->GetTranslation();
Tcw2 = pKF2->GetPose();
Ow2 = pKF2->GetCameraCenter();
pCamera1 = mpCurrentKeyFrame->mpCamera;
pCamera2 = pKF2->mpCamera;
}
}
// Check parallax between rays
cv::Mat xn1 = pCamera1->unprojectMat(kp1.pt);
cv::Mat xn2 = pCamera2->unprojectMat(kp2.pt);
cv::Mat ray1 = Rwc1*xn1;
cv::Mat ray2 = Rwc2*xn2;
const float cosParallaxRays = ray1.dot(ray2)/(cv::norm(ray1)*cv::norm(ray2));
float cosParallaxStereo = cosParallaxRays+1;
float cosParallaxStereo1 = cosParallaxStereo;
float cosParallaxStereo2 = cosParallaxStereo;
if(bStereo1)
cosParallaxStereo1 = cos(2*atan2(mpCurrentKeyFrame->mb/2,mpCurrentKeyFrame->mvDepth[idx1]));
else if(bStereo2)
cosParallaxStereo2 = cos(2*atan2(pKF2->mb/2,pKF2->mvDepth[idx2]));
cosParallaxStereo = min(cosParallaxStereo1,cosParallaxStereo2);
cv::Mat x3D;
if(cosParallaxRays<cosParallaxStereo && cosParallaxRays>0 && (bStereo1 || bStereo2 ||
(cosParallaxRays<0.9998 && mbInertial) || (cosParallaxRays<0.9998 && !mbInertial)))
{
// Linear Triangulation Method
cv::Mat A(4,4,CV_32F);
A.row(0) = xn1.at<float>(0)*Tcw1.row(2)-Tcw1.row(0);
A.row(1) = xn1.at<float>(1)*Tcw1.row(2)-Tcw1.row(1);
A.row(2) = xn2.at<float>(0)*Tcw2.row(2)-Tcw2.row(0);
A.row(3) = xn2.at<float>(1)*Tcw2.row(2)-Tcw2.row(1);
cv::Mat w,u,vt;
cv::SVD::compute(A,w,u,vt,cv::SVD::MODIFY_A| cv::SVD::FULL_UV);
x3D = vt.row(3).t();
if(x3D.at<float>(3)==0)
continue;
// Euclidean coordinates
x3D = x3D.rowRange(0,3)/x3D.at<float>(3);
}
else if(bStereo1 && cosParallaxStereo1<cosParallaxStereo2)
{
x3D = mpCurrentKeyFrame->UnprojectStereo(idx1);
}
else if(bStereo2 && cosParallaxStereo2<cosParallaxStereo1)
{
x3D = pKF2->UnprojectStereo(idx2);
}
else
{
continue; //No stereo and very low parallax
}
cv::Mat x3Dt = x3D.t();
if(x3Dt.empty()) continue;
//Check triangulation in front of cameras
float z1 = Rcw1.row(2).dot(x3Dt)+tcw1.at<float>(2);
if(z1<=0)
continue;
float z2 = Rcw2.row(2).dot(x3Dt)+tcw2.at<float>(2);
if(z2<=0)
continue;
//Check reprojection error in first keyframe
const float &sigmaSquare1 = mpCurrentKeyFrame->mvLevelSigma2[kp1.octave];
const float x1 = Rcw1.row(0).dot(x3Dt)+tcw1.at<float>(0);
const float y1 = Rcw1.row(1).dot(x3Dt)+tcw1.at<float>(1);
const float invz1 = 1.0/z1;
if(!bStereo1)
{
cv::Point2f uv1 = pCamera1->project(cv::Point3f(x1,y1,z1));
float errX1 = uv1.x - kp1.pt.x;
float errY1 = uv1.y - kp1.pt.y;
if((errX1*errX1+errY1*errY1)>5.991*sigmaSquare1)
continue;
}
else
{
float u1 = fx1*x1*invz1+cx1;
float u1_r = u1 - mpCurrentKeyFrame->mbf*invz1;
float v1 = fy1*y1*invz1+cy1;
float errX1 = u1 - kp1.pt.x;
float errY1 = v1 - kp1.pt.y;
float errX1_r = u1_r - kp1_ur;
if((errX1*errX1+errY1*errY1+errX1_r*errX1_r)>7.8*sigmaSquare1)
continue;
}
//Check reprojection error in second keyframe
const float sigmaSquare2 = pKF2->mvLevelSigma2[kp2.octave];
const float x2 = Rcw2.row(0).dot(x3Dt)+tcw2.at<float>(0);
const float y2 = Rcw2.row(1).dot(x3Dt)+tcw2.at<float>(1);
const float invz2 = 1.0/z2;
if(!bStereo2)
{
cv::Point2f uv2 = pCamera2->project(cv::Point3f(x2,y2,z2));
float errX2 = uv2.x - kp2.pt.x;
float errY2 = uv2.y - kp2.pt.y;
if((errX2*errX2+errY2*errY2)>5.991*sigmaSquare2)
continue;
}
else
{
float u2 = fx2*x2*invz2+cx2;
float u2_r = u2 - mpCurrentKeyFrame->mbf*invz2;
float v2 = fy2*y2*invz2+cy2;
float errX2 = u2 - kp2.pt.x;
float errY2 = v2 - kp2.pt.y;
float errX2_r = u2_r - kp2_ur;
if((errX2*errX2+errY2*errY2+errX2_r*errX2_r)>7.8*sigmaSquare2)
continue;
}
//Check scale consistency
cv::Mat normal1 = x3D-Ow1;
float dist1 = cv::norm(normal1);
cv::Mat normal2 = x3D-Ow2;
float dist2 = cv::norm(normal2);
if(dist1==0 || dist2==0)
continue;
if(mbFarPoints && (dist1>=mThFarPoints||dist2>=mThFarPoints)) // MODIFICATION
continue;
const float ratioDist = dist2/dist1;
const float ratioOctave = mpCurrentKeyFrame->mvScaleFactors[kp1.octave]/pKF2->mvScaleFactors[kp2.octave];
if(ratioDist*ratioFactor<ratioOctave || ratioDist>ratioOctave*ratioFactor)
continue;
// Triangulation is succesfull
MapPoint* pMP = new MapPoint(x3D,mpCurrentKeyFrame,mpAtlas->GetCurrentMap());
pMP->AddObservation(mpCurrentKeyFrame,idx1);
pMP->AddObservation(pKF2,idx2);
mpCurrentKeyFrame->AddMapPoint(pMP,idx1);
pKF2->AddMapPoint(pMP,idx2);
pMP->ComputeDistinctiveDescriptors();
pMP->UpdateNormalAndDepth();
mpAtlas->AddMapPoint(pMP);
mlpRecentAddedMapPoints.push_back(pMP);
}
}
}
6.运行方式：切入slam文件夹：
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/jackson/dataset/rgbd_dataset_freiburg1_desk2
其中 /home/...的部分是TUM数据集的位置。
标签：const,Mat,mpCurrentKeyFrame,float,SLAM3,pKF2,TUM,ubuntu18,cv 来源： https://blog.csdn.net/Zzzhzzzz/article/details/120758753