2019-07-17 RK3399_Ubuntu16.04_ROS_OrbSlam2

1. Dependence

boost

sudo apt-get install libboost-all-dev

opencv

downloading source code 2.4.11

mkdir build

cd build

cmake ..

make -j1

sudo make install

Pangolin

sudo apt-get install libglew-dev

git clone https://github.com/stevenlovegrove/Pangolin.git

cd Pangolin

mkdir build

cd build

cmake ..

make -j1

Eigen3

sudo apt-get install libeigen3-dev

#ls： Eigen  signature_of_eigen3_matrix_library  unsupported

cd /usr/include/eigen3   

sudo cp Eigen/ .. -R             

DBoW2 & g2o (included in Thirdparty) 

2. ORB-SLAM2

Dowmload and compile ORB-SLAM2

cd ~

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

cd ORB_SLAM2

chmod +x build.sh

./build.sh

.bashrc

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/firefly/ORB_SLAM2/Examples/ROS

Compile ORB-SLAM2_ROS 

CMakeLists -lboost_system

cd /home/firefly/ORB_SLAM2/Examples/ROS/ORB_SLAM2/

mkdir buildcd build

cmake ..

make -j1

3. Run

roscore

roslaunch freenect_launch freenect-registered-xyzrgb.launch

rosrun ORB_SLAM2 RGBD /home/firefly/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/firefly/ORB_SLAM2/Examples/RGB-D/TUM1.yaml