ubuntu20.04安装openvslam--2021.10.19

 

 

1.安装依赖

sudo apt-get update
sudo apt-get install -y build-essential pkg-config cmake git wget curl unzip
//g2o dependencies
sudo apt-get install -y libatlas-base-dev libsuitesparse-dev
//OpenCV dependencies
sudo apt-get install -y libgtk-3-dev
sudo apt-get install -y ffmpeg
sudo apt-get install -y libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev 
//eigen dependencies
sudo apt install -y gfortran
//Pangolin dependencies
sudo apt install -y libglew-dev

//other dependencies
sudo apt install -y libyaml-cpp-dev libgoogle-glog-dev libgflags-dev
sudo apt-get install -y libopenblas-dev

sudo apt-get install -y libx11-dev 
sudo apt-get install -y libgl1-mesa-dev 

sudo apt-get install libglu1-mesa-dev 

sudo apt-get install -y freeglut3-dev 
sudo apt-get install -y doxygen 

2.安装eigen

cd /path/to/working/dir
// 可以在官网下载https://gitlab.com/libeigen/eigen/-/releases#3.3.7
wget https://github.com/eigenteam/eigen-git-mirror/archive/3.3.7.tar.gz 
tar -xzvf 3.3.7.tar.gz 
mv eigen-git-mirror-3.3.7/ eigen-3.3.7/ 
cd eigen-3.3.7/ 
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j2
sudo make install 
sudo ldconfig -v

3.安装g2o

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DCMAKE_CXX_FLAGS=-std=c++11 \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_UNITTESTS=OFF \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DG2O_USE_CHOLMOD=OFF \
    -DG2O_USE_CSPARSE=ON \
    -DG2O_USE_OPENGL=OFF \
    -DG2O_USE_OPENMP=ON \
    ..
make -j12
sudo make install 

//如果make有错误，cc1plus: error: bad value (‘tigerlake’) for ‘-march=’ switch #46
//可以将g++、gcc改成10
sudo apt install gcc-10 g++-10
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 100 --slave /usr/bin/g++ g++ /usr/bin/g++-10 --slave /usr/bin/gcov gcov /usr/bin/gcov-10

// 卸载
sudo rm -r /usr/local/include/g2o
sudo rm -r /usr/local/lib/libg2o*
sudo rm -r /usr/local/bin/g2o*

 

 

4.安装OpenCV4

ubuntu20.04安装OpenCV4

 

 5.安装作者的DBo2

git clone https://github.com/shinsumicco/DBoW2.git
cd DBoW2
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j2
sudo make install 
sudo ldconfig -v

 

6.安装yaml-cpp

这里需要在CMakeLists.txt开启fPIC选项

target_compile_options(yaml-cpp
  PRIVATE
    $<${not-msvc}:-Wall -Wextra -Wshadow -Weffc++ -Wno-long-long>
    # $<${not-msvc}:-pedantic -pedantic-errors>   #修改前
    $<${not-msvc}:-fPIC -pedantic -pedantic-errors>    #修改后

 

git clone https://github.com/jbeder/yaml-cpp
cd yaml-cpp
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j2
sudo make install 
sudo ldconfig -v

 

 

7.安装glew

wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz --no-check-certificate 
tar -xzvf glew-2.1.0.tgz cd glew-2.1.0/ 
make -j2
sudo make install 
sudo ln -s /usr/lib64/libGLEW.so.2.1 /usr/lib/libGLEW.so.2.1
sudo ldconfig -v

8.安装pingolin

这里不要用最新的pangolin，最新版缺少支持

https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j
sudo make install 
sudo ldconfig -v

 

9.编译openvslam工程

cmake \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DUSE_PANGOLIN_VIEWER=ON \
    -DUSE_SOCKET_PUBLISHER=OFF \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=ON \
    ..
make -j12

 

 

 

 

‘runtime_error’ is not a member of ‘std’

/src/pangolin_viewer/color_scheme.cc　　

#include<stdexcept>

 

/home/lhw/Graduate/openvslam/GPS_BA/0/openvslam/src/openvslam/publish/frame_publisher.cc:152:56: error: ‘setprecision’ is not a member of ‘std’
152 | ss << "track time: " << std::fixed << std::setprecision(0) << elapsed_ms << "ms";

#include <iomanip>