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  • ORB SLAM2 学习笔记

    cd ~/Documents/demos/ORB_SLAM2

    ./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml rgbd_dataset_freiburg1_xyz rgbd_dataset_freiburg1_xyz/associations.txt

    注意 Github README 上的ASSOCIATIONS_FILE 要加上associations.txt

    遇到报错

    /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
    collect2: error: ld returned 1 exit status
    CMakeFiles/RGBD.dir/build.make:216: recipe for target '../RGBD' failed
    make[2]: *** [../RGBD] Error 1
    CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
    make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
    make[1]: *** Waiting for unfinished jobs....
    /usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.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
    collect2: error: ld returned 1 exit status
    CMakeFiles/Stereo.dir/build.make:216: recipe for target '../Stereo' failed
    make[2]: *** [../Stereo] Error 1
    CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
    make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
    Makefile:127: recipe for target 'all' failed
    make: *** [all] Error 2
    

    解决方法:
    参考:https://github.com/raulmur/ORB_SLAM2/issues/494
    修改CMakeLists.txt

    增加-lboost_system

    如下:

    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
    )
    

    使用xtion

    打开相机

    roslaunch openni2_launch openni2.launch

    ps: xtion 彩色图和深度图的topic为
    /camera/rgb/image_raw
    camera/depth_registered/image_raw

    打开ORB

    cd /home/william/Documents/demos/ORB_SLAM2/Examples/ROS/ORB_SLAM2
    rosrun ORB_SLAM2 RGBD /home/william/Documents/demos/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/william/Documents/demos/ORB_SLAM2/Examples/ROS/ORB_SLAM2/xtion.yaml

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  • 原文地址:https://www.cnblogs.com/linweilin/p/10263188.html
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