corb-slam安装教程
0.requirements
ubuntu 14.04
ROS indigo
ORBSLAM2 1.0.0
boost
1.安装ubuntu14.04
2.安装ros indigo
http://wiki.ros.org/indigo/Installation/Ubuntu
3.安装ORBSLAM2
https://github.com/raulmur/ORB_SLAM2
3.1 升级gcc,g++支持c++11, c++14
gcc --version
g++ --version
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install g++-5
cd /usr/bin
sudo rm gcc
sudo rm g++
sudo ln -s /usr/bin/gcc-5 ./gcc
sudo ln -s /usr/bin/g++-5 ./g++
3.2 安装Pangolin
安装其他
sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt install cmake
sudo apt install libpython2.7-dev
sudo add-apt-repository ppa:kirillshkrogalev/ffmpeg-next
sudo apt-get update
sudo apt-get install ffmpeg
sudo apt-get install doxygen
git clone https://github.com/zzx2GH/Pangolin
注释掉src/display/device/display_x11.cpp中123-124行
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
3.3 安装opencv2.4.11
unzip opencv-2.4.11.zip
cd opencv-2.4.11
sudo apt-get install build-essential cmake libgtk2.0-dev pkg-config python-dev python-numpy libavcodec-dev libavformat-dev libswscale-dev
cd cmake
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
sudo make install
3.4 安装eigen3
sudo apt-get install libeigen3-dev
3.5 安装orbslam2
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
4.安装boost library
sudo apt-get install libboost-dev
5.下载并编译corbslam源码
mkdir ~/catkin_ws/
cd ~/catkin_ws/
git clone https://github.com/qixuxiang/CORB-SLAM.git
mv CORB-SLAM src
cd src/corbslam_client/Thirdparty/DBoW2
cmake .
make
cd ../g2o
sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev
cmake .
make
cd ../Pangolin
cmake .
make
cd ~/catkin_ws/src/corbslam_client/
修改CMakeList.txt文件中include_directories(...)里的/usr/local/include/pcl-1.8为你自己的pcl路径，比如修改为/usr/include/pcl-1.7
cd ~/catkin_ws/src/corbslam_server/
同样，修改CMakeList.txt文件中include_directories(...)里的/usr/local/include/pcl-1.8为你自己的pcl路径，比如修改为/usr/include/pcl-1.7
cd ~/catkin_make/
catkin_make
cd ~/catkin_ws/src/corbslam_client/Vocabulary/
tar -xvzf ORBvoc.txt.tar.gz
6.运行corbslam
下载kitti数据集,odem_geometry gray_image
roscore
rosrun corbslam_server corbslam_server catkin_ws/src/corbslam_client/Vocabulary/ORBvoc.txt catkin_ws/src/corbslam_client/Examples/Stereo/KITTI00-02.yaml
rosrun corbslam_client corbslam_client_stereo_kitti catkin_ws/src/corbslam_client/Vocabulary/ORBvoc.txt catkin_ws/src/corbslam_client/Examples/Stereo/KITTI00-02.yaml kitti_dataset/sequence/00 1
