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  • 基于Ubuntu 16.04 使用数据集运行 ORB_SLAM2

    一、ORB_SLAM2依赖项的安装

    1 安装Pangolin,用于可视化和用户接口

    1.1安装Pangolin所需的依赖库

    sudo apt-get install libglew-dev libpython2.7-dev libboost-dev libboost-thread-dev libboost-filesystem-dev

    1.2下载Pangolin并编译安装

    cd ~/catkin/src

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

    cd pangolin

    mkdir build && cd build

    cmake ..

    make

    sudo make install

    2下载安装opencv

    1 git clone https://github.com/opencv/opencv.git
    2 cd opencv/
    3 cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 
    4 make
    5 sudo make install

    3安装Eigen3

    sudo apt-get install libeigen3-dev

    二、下载ORB_SLAM2及编译运行

    1下载ORB_SLAM2

    cd catkin_ws/src 
    git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2 

    2编译ORB_SLAM2

    首先打开build.sh文件,将所有的make -j改为make(低性能电脑照做,高性能电脑忽略此步),之后修改文件权限并运行编译:

    1 cd ORB_SLAM2
    2 gedit build.sh(打开build.sh文件,然后手动删除-j,保存退出)
    3 chmod +x build.sh
    4 ./build.sh

    3运行ORB_SLAM2(使用RGB-D数据集演示)

    前往https://vision.in.tum.de/data/datasets/rgbd-dataset/download下载对应的数据集,这里将名称(rgbd_database_test)代替下载的数据集名称用以演示,将其存放在ORB_SLAM2根目录下。

    ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml ~/catkin_ws/src/ORB_SLAM2/rgbd_dataset_test

     

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  • 原文地址:https://www.cnblogs.com/pgzhanglin/p/13232863.html
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