文章目录
-
- Command 'cmake' not found
- No CMAKE_CXX_COMPILER could be found
- OpenCV > 2.4.3 not found
-
- 先安装ROS
- The repository 'http://packages.ros.org/ros/ubuntu focal InRelease' is not signed.
- PangolinConfig.cmake、pangolin-config.cmake
- ORBextractor.h:26:10: fatal error: opencv/cv.h
- Viewer.cc:160:17: error: ‘usleep’
- stl_map.h:122:71: error: static assertion failed:
- mono_tum.cc:68:68: error: ‘CV_LOAD_IMAGE_UNCHANGED’
- 下载TUM单目数据集
- 终端运行命令
- 下载TUM RGBD数据集
- 编译ORB_SLAM3
- ORB_SLAM3源码解读
~/$ git clone https://github.com/raulmur/ORB_SLAM2
~/$ cd ORB_SLAM2
~/ORB_SLAM2$ ./build.sh
hirdparty/DBoW2 ...
mkdir: cannot create directory ‘build’: File exists
./build.sh: line 6: cmake: command not found
./build.sh: line 7: make: command not found
Configuring and building Thirdparty/g2o ...
mkdir: cannot create directory ‘build’: File exists
./build.sh: line 15: cmake: command not found
./build.sh: line 16: make: command not found
Uncompress vocabulary ...
Configuring and building ORB_SLAM2 ...
mkdir: cannot create directory ‘build’: File exists
./build.sh: line 30: cmake: command not found
./build.sh: line 31: make: command not found
Command ‘cmake’ not found
sudo aptinstall cmake
No CMAKE_CXX_COMPILER could be found
sudo apt install -y build-essential
OpenCV > 2.4.3 not found 尝试安装ROS解决问题
先安装ROS
http://wiki.ros.org/noetic/Installation/Ubuntu
The repository ‘http://packages.ros.org/ros/ubuntu focal InRelease’ is not signed.
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
【从零开始学习SLAM实战教程|【ORB_SLAM2】Ubuntu 20.04编译跑通ORB_SLAM2、ORB_SLAM3】依然报错，最终更改编译文件解决
find_package(OpenCV 3.0 QUIET)/home/xq/ORB_SLAM2/Thirdparty/DBoW2/CMakeLists.txt
find_package(OpenCV QUIET)/home/xq/ORB_SLAM2/CMakeLists.txt
find_package(OpenCV QUIET)
安装ROS的时候会安装EIgen和OpenCV，我没有另外安装。
PangolinConfig.cmake、pangolin-config.cmake
下载 https://github.com/stevenlovegrove/Pangolin/archive/refs/tags/v0.6.zip
ORBextractor.h:26:10: fatal error: opencv/cv.h
#include
替换为
#include
#include
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Viewer.cc:160:17: error: ‘usleep’
/home/ORB_SLAM2/include/system.h
#include
stl_map.h:122:71: error: static assertion failed:
/home/ORB_SLAM2/include/LoopClosing.htypedef map,
Eigen::aligned_allocator::pair > > KeyFrameAndPose;
改为typedef map,
Eigen::aligned_allocator::pair > > KeyFrameAndPose;
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mono_tum.cc:68:68: error: ‘CV_LOAD_IMAGE_UNCHANGED’
replaced CV_LOAD_IMAGE_UNCHANGED with it's enum value -1
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同样的编译
./build_ros需要更改编译文件
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添加环境变量
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xq/ORB_SLAM2/Examples/ROS
下载TUM单目数据集 可添加微信 slamshizhaniaoheng 获取
终端运行命令
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/xq/datasets/rgbd_dataset_freiburg1_xyz
下载TUM RGBD数据集 可添加微信 slamshizhaniaoheng 获取
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/xq/datasets/rgbd_dataset_freiburg1_xyz /home/xq/datasets/rgbd_dataset_freiburg1_xyz/associations.txt
编译ORB_SLAM3 报错和解决方法同ORB_SLAM2
【ORB_SLAM3源码解读】Ubuntu 16.04 编译跑通 ORB_SLAM3 各个版本
【ORB_SLAM2】Ubuntu 20.04编译跑通ORB_SLAM2、ORB_SLAM3
【ORB_SLAM2源码解读】Ubuntu 16.04 TUM、EuRoC单目数据集跑通ORB_SLAM2
【ORB_SLAM2源码解读】Ubuntu 16.04 EuRoC双目数据集跑通ORB_SLAM2
【ORB_SLAM2源码解读】Ubuntu 16.04 TUM RGBD 数据集跑通ORB_SLAM2
【ORB_SLAM2源码解读】Ubuntu 16.04 RealSense D435i 实时跑ORB_SLAM2单目、双目、RGBD
ORB_SLAM3源码解读 【ORB_SLAM3源码解读】原理解读代码实战
