ORB SLAM2 源码跑起来------碰到的问题总结

参考博客：

1、ROS进阶学习（七）-- ORB_SLAM2实战（一）  

2、/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line

3、ROS(三)：使用ROS跑通ORB_SLAM2

4、ORB_SLAM2之Pangolin的安装与问题处理

    

一、编译平台：

操作系统：ubuntu 16.04

ROS版本:   kinetic

摄像头：笔记本自带

二、安装步骤：（摘自：ROS进阶学习（七）-- ORB_SLAM2实战（一））

1、驱动摄像头显示图像

$ cd ~/camera_ws/src
$ git clone https://github.com/bosch-ros-pkg/usb_cam
$ cd ..
$ catkin_make
$ source devel/setup.bash
$ roscore
$ roslaunch usb_cam usb_cam-test.launch 

记录下显示窗口的topic: /usb_cam/image_raw

2 、编译ORB-SLAM2之前的相关依赖项和库安装

1）安装Boost

 $ sudo apt-get install libboost-all-dev  

2）安装g2o

为了编译g2o需要先安装如下三个库

$ sudo apt-get install libblas-dev
$ sudo apt-get install liblapack-dev
$ sudo apt-get install libeigen3-dev
$ cd ~/camera_ws/src  
$ git clone https://github.com/RainerKuemmerle/g2o 
$ cd ~/camera_ws/src/g2o  
$ mkdir build  
$ cmake ..  
$ make  
$ sudo make install 

3 ) 安装 Pangolin

$ sudo apt-get install libglew-dev #安装Glew
$ sudo apt-get install cmake #安装CMake
$ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev #安装Boost
$ sudo apt-get install libpython2.7-dev #安装Python2'Python3
#下载、编译、安装Pangolin:
$ cd ~/orbslam_ws/src
$ git clone https://github.com/stevenlovegrove/Pangolin.git
$ cd Pangolin
$ mkdir build
$ cd build
$ cmake -DCPP11_NO_BOOST=1 ..
$ make
$ sudo make install 

 

 3、下载ORB_SLAM2  ROS包                                                              

$ cd ~/camera_ws/src
$ git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
$ cd ORB_SLAM2
$ chmod +x build.sh
$ ./build.sh
$ chmod +x build_ros.sh
$ ./build_ros.sh 

4、运行

$roscore
#新开一个终端
$roslaunch usb_cam usb_cam-test.launch
#这时摄像头应该已经打开,新开一个终端
#这里用的参数文件是examples自带的，其实还是要自己标定下摄像头的
$rosrun ORB_SLAM2 Mono ~/Documents/code/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/Documents/code/ORB_SLAM2/Examples/Monocular/TUM1.yaml

三、出现的问题及解决办法

1、第二步Pangolin安装出错

现象：提示的错误大部分是跟openni.h和XnCppWrapper.h有关的

解决办法：编译Pangolin时，并不需要用到OpenNI，可以在编译时将其屏蔽；

打开~/orbslam_ws/src/Pangolin/src/CMakeLists.txt，注释掉以下关于OpenNI和OpenNI2相关编译选项；

#option(BUILD_PANGOLIN_OPENNI "Build support for OpenNI video input" ON)
#if(BUILD_PANGOLIN_OPENNI AND BUILD_PANGOLIN_VIDEO)
#  find_package(OpenNI QUIET)
#  if(OPENNI_FOUND)
#    set(HAVE_OPENNI 1)
#    if(_LINUX_)
#      add_definitions(-Dlinux=1)
#    endif()
#    list(APPEND INTERNAL_INC  ${OPENNI_INCLUDE_DIRS} )
#    list(APPEND LINK_LIBS ${OPENNI_LIBRARIES} )
#    list(APPEND HEADERS ${INCDIR}/video/drivers/openni.h )
#    list(APPEND SOURCES video/drivers/openni.cpp)
#    list(APPEND VIDEO_FACTORY_REG RegisterOpenNiVideoFactory )
#    message(STATUS "OpenNI Found and Enabled")
#  endif()
#endif()

#option(BUILD_PANGOLIN_OPENNI2 "Build support for OpenNI2 video input" ON)
#if(BUILD_PANGOLIN_OPENNI2 AND BUILD_PANGOLIN_VIDEO)
#  find_package(OpenNI2 QUIET)
#  if(OPENNI2_FOUND)
#    set(HAVE_OPENNI2 1)
#    if(_LINUX_)
#      add_definitions(-Dlinux=1)
#    endif()
#    list(APPEND INTERNAL_INC  ${OPENNI2_INCLUDE_DIRS} )
#    list(APPEND LINK_LIBS ${OPENNI2_LIBRARIES} )
#    list(APPEND HEADERS ${INCDIR}/video/drivers/openni2.h )
#    list(APPEND SOURCES video/drivers/openni2.cpp)
#    list(APPEND VIDEO_FACTORY_REG RegisterOpenNi2VideoFactory )
#    message(STATUS "OpenNI2 Found and Enabled")
#  endif()
#endif()

2、第三步./build_ros.sh编译出错/

现象：/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line

解决办法：在Examples/ROS/ORB_SLAM2/Cmakelist.txt 的文件后面加入两句话：

target_link_libraries(Stereo boost_system boost_filesystem)  
target_link_libraries(RGBD boost_system boost_filesystem) 

3、第四步运行完，弹出的视频窗口只出现waiting for image，无任何画面

原因：ORB_SLAM2节点订阅的话题是/image/image_raw，而不是第一步中摄像头usb_cam节点发布的话题/usb_cam/image_raw，故没有视频画面；

解决办法：修改ORB_SLAM2节点订阅的话题为/usb_cam/image_raw

先查看～/camera_ws/src/ORB_SLAM2/build_ros.sh脚本中的内容：

echo "Building ROS nodes"

cd Examples/ROS/ORB_SLAM2
mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make -j

从～/camera_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2目录下用cmake编译生成ORB_SLAM2节点。

ORB_SLAM2节点生成源码在～/camera_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_mono.cc文件，做如下修改：

 //源码中的代码
ros::Subscriber sub = nodeHandler.subscribe("/image/image_raw", 1, &ImageGrabber::GrabImage,&igb);
//修改后的代码
ros::Subscriber sub = nodeHandler.subscribe("/usb_cam/image_raw", 1, &ImageGrabber::GrabImage,&igb);

注：另一种方法是将摄像头usb_cam节点发布的话题改为/image/image_raw