ubuntu16.04安装RGBD-SLAM V2运行

一.建立rgbdslam_ws空间

$ cd ~/rgbdslam_ws/src 
$ cd rgbdslam_ws 
$ catkin_make 
$ source devel/setup.bash 

二.下载并安装PCL1.8  EIGEN3.0   G20

1.下载安装PCL1.8

$ cd ~/rgbdslam_vs/src
$ wget https://github.com/PointCloudLibrary/pcl/archive/pcl-1.8.0.tar.gz
$ tar -xvzf pcl-1.8.0.tar.gz

修改cmakelist.txt，在其第146行加入并保存

SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

编译

$  cd ~/rgbdslam_ws/src/pcl-pcl-1.8.0
$ mkdir build
$ cd build
$ cmake ..
$ make VERBOSE=1
$ sudo make install 

2.安装 EIGEN3.0和G2O

a.下载eigen3.0

$ cd rgbdslam_vs/src
$ wget http://bitbucket.org/eigen/eigen/get/3.2.10.tar.bz2
$ mkdir eigen
$ tar -xvjf 3.2.10.tar.bz2 -C eigen --strip-components 1

b.配置G2O

将G2O中CMakelistis.txt的251中的

SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3")

改为

SET(G2O_EIGEN3_INCLUDE "你的Eigen3的绝对路径" CACHE PATH "Directory of Eigen3")

安装G2O

$ cd rgbdslam_vs/src
$ git clone https://github.com/felixendres/g2o.git
$ cd ~/rgbdslam/src/g2o
$ mkdir build
$ cd build
$ cmake ..
$ make 
$ sudo make install

3.安装opencv3.3.1（网上找教程）

4.安装RGBD-SLAM V2

$ cd ~/rgbdslam_ws/src 
$ wget -q http://github.com/felixendres/rgbdslam_v2/archive/kinetic.zip 
$ unzip -q kinetic.zip 
$ cd ~/rgbdslam_ws/ 
$ rosdep update 
$ rosdep install rgbdslam 

catkin_make之前rgbdslam_v2包的cmakelists.txt文件下的第6行加入

add_compile_options(-std=c++11)

将rgbdslam_v2包下的cmakelist.txt文件的第79行

find_package(PCL 1.7 REQUIRED COMPONENTS common io)

改为

find_package(PCL 1.8 REQUIRED COMPONENTS common io)

编译RGBD-SLAM V2

注意：如果是在ARM环境下则需要进入rgbdslam-v2/external/siftgpu/makefile并注释第19行和第20行。ARM没有这些扩展的浮点指令。此外，在顶级目录的cmakelists.txt中取消第31行的注释。

$ cd rgbdslam_ws
$ catkin_make

5.添加rgbdslam_ws工作空间到.bashrc文件下

$ echo "source /home/XXXX/rgbdslam_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

6.测试数据集

打开第一个终端

$ roscore

打开第二个终端

$ rosbag play rgbd_dataset.bag

注意：修改rgbdslam.launch中13.14行的SIFTGPU为ORB

打开第三个终端

$ roslaunch rgbdslam rgbdslam.launch

打开kinetic v2

新建rgbdslam_kinect2.launch

打开一个终端

roslaunch kinect2_bridge kinect2_bridge.launch

注意：若出现failed to open Kinect V2 Access denied的错误，libfreenect2/platform/linux/udev/90-Kinect2.rules

文件复制到/etc/udev/rules.d/文件夹下

sudo cp  ~/libfreenect2/platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/

打开另一个终端

​
roslaunch rgbdslam rgbdslam_kinect2.launch

​注意：打开终端后，执行source ～/rgbdslam_ws/devel/setup.bash，否则会报以下错误：

[rgbdslam_kinect2.launch] is neither a launch file in package [rgbdslam] nor is [rgbdslam] a launch file name 
The traceback for the exception was written to the log file