dynaslam

1.

参考连接：https://blog.csdn.net/u013454780/article/details/130007251

 

conda create -n DynaSLAM python=2.7  
conda activate DynaSLAM
pip install tensorflow-gpu==1.14.0
pip install keras==2.0.9
pip install h5py==2.10.0
pip install numpy==1.16.6
pip install pillow==6.2.2
pip install git+https://github.com/philferriere/cocoapi.git#subdirectory=PythonAPI
pip install scikit-image==0.14.5
sudo apt-get install libcanberra-gtk-module

下载代码：

git clone https://github.com/BertaBescos/DynaSLAM.git
cd DynaSLAM/src/python
wget https://github.com/matterport/Mask_RCNN/releases/download/v2.0/mask_rcnn_coco.h5

测试虚拟机环境

conda activate DynaSLAM
cd DynaSLAM/
python src/python/Check.py

 

 

opencv2.4.11编译：
将OpenCVDetectCXXCompiler.cmake内容改为

# ----------------------------------------------------------------------------
# Detect Microsoft compiler:
# ----------------------------------------------------------------------------
if(CMAKE_CL_64)
    set(MSVC64 1)
endif()

if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
  set(CMAKE_COMPILER_IS_GNUCXX 1)
  set(CMAKE_COMPILER_IS_CLANGCXX 1)
endif()
if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
  set(CMAKE_COMPILER_IS_GNUCC 1)
  set(CMAKE_COMPILER_IS_CLANGCC 1)
endif()
if("${CMAKE_CXX_COMPILER};${CMAKE_C_COMPILER}" MATCHES "ccache")
  set(CMAKE_COMPILER_IS_CCACHE 1)
endif()

# ----------------------------------------------------------------------------
# Detect Intel ICC compiler -- for -fPIC in 3rdparty ( UNIX ONLY ):
#  see  include/opencv/cxtypes.h file for related   ICC & CV_ICC defines.
# NOTE: The system needs to determine if the '-fPIC' option needs to be added
#  for the 3rdparty static libs being compiled.  The CMakeLists.txt files
#  in 3rdparty use the CV_ICC definition being set here to determine if
#  the -fPIC flag should be used.
# ----------------------------------------------------------------------------
if(UNIX)
  if  (__ICL)
    set(CV_ICC   __ICL)
  elseif(__ICC)
    set(CV_ICC   __ICC)
  elseif(__ECL)
    set(CV_ICC   __ECL)
  elseif(__ECC)
    set(CV_ICC   __ECC)
  elseif(__INTEL_COMPILER)
    set(CV_ICC   __INTEL_COMPILER)
  elseif(CMAKE_C_COMPILER MATCHES "icc")
    set(CV_ICC   icc_matches_c_compiler)
  endif()
endif()

if(MSVC AND CMAKE_C_COMPILER MATCHES "icc|icl")
  set(CV_ICC   __INTEL_COMPILER_FOR_WINDOWS)
endif()

# ----------------------------------------------------------------------------
# Detect GNU version:
# ----------------------------------------------------------------------------
if(CMAKE_COMPILER_IS_CLANGCXX)
  set(CMAKE_GCC_REGEX_VERSION "4.2.1")
  set(CMAKE_OPENCV_GCC_VERSION_MAJOR 4)
  set(CMAKE_OPENCV_GCC_VERSION_MINOR 2)
  set(CMAKE_OPENCV_GCC_VERSION 42)
  set(CMAKE_OPENCV_GCC_VERSION_NUM 402)

  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
                  ERROR_VARIABLE CMAKE_OPENCV_CLANG_VERSION_FULL
                  ERROR_STRIP_TRAILING_WHITESPACE)

  string(REGEX MATCH "version.*$" CMAKE_OPENCV_CLANG_VERSION_FULL "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
  string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_CLANG_REGEX_VERSION "${CMAKE_OPENCV_CLANG_VERSION_FULL}")

elseif(CMAKE_COMPILER_IS_GNUCXX)
  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
                OUTPUT_VARIABLE CMAKE_OPENCV_GCC_VERSION_FULL
                OUTPUT_STRIP_TRAILING_WHITESPACE)

  execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
                ERROR_VARIABLE CMAKE_OPENCV_GCC_INFO_FULL
                OUTPUT_STRIP_TRAILING_WHITESPACE)

  # Typical output in CMAKE_OPENCV_GCC_VERSION_FULL: "c+//0 (whatever) 4.2.3 (...)"
  # Look for the version number, major.minor.build
  string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
  if(NOT CMAKE_GCC_REGEX_VERSION)#major.minor
    string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
  endif()

  if(CMAKE_GCC_REGEX_VERSION)
    # Split the parts:
    string(REGEX MATCHALL "[0-9]+" CMAKE_OPENCV_GCC_VERSIONS "${CMAKE_GCC_REGEX_VERSION}")

    list(GET CMAKE_OPENCV_GCC_VERSIONS 0 CMAKE_OPENCV_GCC_VERSION_MAJOR)
    list(GET CMAKE_OPENCV_GCC_VERSIONS 1 CMAKE_OPENCV_GCC_VERSION_MINOR)
  else()#compiler returned just the major version number
    string(REGEX MATCH "[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
    if(NOT CMAKE_GCC_REGEX_VERSION)#compiler did not return anything reasonable
      set(CMAKE_GCC_REGEX_VERSION "0")
      message(WARNING "GCC version not detected!")
    endif()
    set(CMAKE_OPENCV_GCC_VERSION_MAJOR ${CMAKE_GCC_REGEX_VERSION})
    set(CMAKE_OPENCV_GCC_VERSION_MINOR 0)
  endif()

  set(CMAKE_OPENCV_GCC_VERSION ${CMAKE_OPENCV_GCC_VERSION_MAJOR}${CMAKE_OPENCV_GCC_VERSION_MINOR})
  math(EXPR CMAKE_OPENCV_GCC_VERSION_NUM "${CMAKE_OPENCV_GCC_VERSION_MAJOR}*100 + ${CMAKE_OPENCV_GCC_VERSION_MINOR}")
  message(STATUS "Detected version of GNU GCC: ${CMAKE_OPENCV_GCC_VERSION} (${CMAKE_OPENCV_GCC_VERSION_NUM})")

  if(WIN32)
    execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
              OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
              OUTPUT_STRIP_TRAILING_WHITESPACE)
    if(OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
      set(MINGW64 1)
    endif()
  endif()
endif()

if(MSVC64 OR MINGW64)
  set(X86_64 1)
elseif(MINGW OR (MSVC AND NOT CMAKE_CROSSCOMPILING))
  set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "amd64.*|x86_64.*|AMD64.*")
  set(X86_64 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686.*|i386.*|x86.*|amd64.*|AMD64.*")
  set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm.*|ARM.*)")
  set(ARM 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)")
  set(AARCH64 1)
endif()

# Workaround for 32-bit operating systems on 64-bit x86_64 processor
if(X86_64 AND CMAKE_SIZEOF_VOID_P EQUAL 4 AND NOT FORCE_X86_64)
  message(STATUS "sizeof(void) = 4 on x86 / x86_64 processor. Assume 32-bit compilation mode (X86=1)")
  unset(X86_64)
  set(X86 1)
endif()

# Similar code exists in OpenCVConfig.cmake
if(NOT DEFINED OpenCV_STATIC)
  # look for global setting
  if(NOT DEFINED BUILD_SHARED_LIBS OR BUILD_SHARED_LIBS)
    set(OpenCV_STATIC OFF)
  else()
    set(OpenCV_STATIC ON)
  endif()
endif()

if(MSVC)
  if(CMAKE_CL_64)
    set(OpenCV_ARCH x64)
  elseif((CMAKE_GENERATOR MATCHES "ARM") OR ("${arch_hint}" STREQUAL "ARM") OR (CMAKE_VS_EFFECTIVE_PLATFORMS MATCHES "ARM|arm"))
    # see Modules/CmakeGenericSystem.cmake
    set(OpenCV_ARCH ARM)
  else()
    set(OpenCV_ARCH x86)
  endif()
  if(MSVC_VERSION EQUAL 1400)
    set(OpenCV_RUNTIME vc8)
  elseif(MSVC_VERSION EQUAL 1500)
    set(OpenCV_RUNTIME vc9)
  elseif(MSVC_VERSION EQUAL 1600)
    set(OpenCV_RUNTIME vc10)
  elseif(MSVC_VERSION EQUAL 1700)
    set(OpenCV_RUNTIME vc11)
  elseif(MSVC_VERSION EQUAL 1800)
    set(OpenCV_RUNTIME vc12)
  elseif(MSVC_VERSION EQUAL 1900)
    set(OpenCV_RUNTIME vc14)
  elseif(MSVC_VERSION EQUAL 1910)
    set(OpenCV_RUNTIME vc15)
  endif()
elseif(MINGW)
  set(OpenCV_RUNTIME mingw)

  if(MINGW64)
    set(OpenCV_ARCH x64)
  else()
    set(OpenCV_ARCH x86)
  endif()
endif()

编译

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local/opencv2.4.11 -DENABLE_PRECOMPILED_HEADERS=OFF -D WITH_FFMPEG=OFF -D WITH_CUDA=OFF -D CUDA_nppicom_LIBRARY=stdc++ ..
make -j4
sudo make install

 

编译到96%时报错：error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
找到opencv-2.4.11/build/modules/contrib/CMakeFiles/opencv_contrib.dir/flags.make文件，删掉-Werror=address