基本环境:ubuntu18.04+python2.7+opencv2.4.11
ubuntu18.04需要更新一下软件源,具体操作参考:https://blog.csdn.net/hymanjack/article/details/80285400 中的第一部分。
由于ubuntu18.04自带的是python3,所以需要安装python2.7和pip2以及顺便安装pip3:
sudo apt install python2.7
sudo apt install python-pip
sudo apt install python3-pip
安装之后可以执行python看看默认进入的是哪个版本,若默认不是python2.7,则自己去搜一下如何配置,也可参考:https://cloud.tencent.com/developer/article/1570927
配置完python之后,就进入到了DynaSLAM的配置过程了,主要参考的是https://blog.csdn.net/qq_43525260/article/details/105746452 和 https://zhuanlan.zhihu.com/p/119422186 ,网上找了很多相关教程,感觉这两篇文章中排的坑比较实用。
mask_rcnn_coco.h5 : https://github.com/matterport/Mask_RCNN/releases/tag/v2.0
opencv2.4.11 : https://opencv.org/releases/
coco数据集 : https://github.com/waleedka/coco
pangolin : https://github.com/stevenlovegrove/Pangolin
DynaSLAM: https://github.com/BertaBescos/DynaSLAM
解压下载好的COCO数据集
cd coco-master/PythonAPI
sudo make install
该过程应该是比较顺利的,编译也很快。编译完成之后,无需把编译好的PythonAPI下的pycocotools文件夹放置到Dynaslam的src/python目录下。我按照上文提到的其中一个博客中的操作,把pycocotools放过去之后,测试Check.py的时候会报No module named _mask的错误,产生的原因应该是文件重复了,去掉之后测试正常。
将下载好的mask_rcnn_coco.h5文件放入Dynaslam的src/python目录下
打开Check.py文件,将ROOT_DIR = "./src/python" 改为 ROOT_DIR = "./" , 不改似乎也能成功,参考博客中提到的需要修改路径问题好像在最新版本的DynaSLAM源码中已经进行修改
执行 python Check.py #以此检验python部分是否有错误
运行成功是输出:Mask R-CNN is correctly working。可能会报一些缺少依赖包的错误,可参考第一篇博客中的第五步,这边就不赘述了。
sudo apt-get install libxkbcommon-x11-dev
sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt install cmake
cd Pangolin-master
mkdir build
cd build
cmake ..
make -j4
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libopenexr-dev libdc1394-22-dev
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev
最后继续执行上一步第三批依赖安装的命令,以防有依赖丢失
cd opencv-2.4.11
mkdir build
cd build
# ----------------------------------------------------------------------------
# Detect Microsoft compiler:
# ----------------------------------------------------------------------------
# ----------------------------------------------------------------------------
if(CMAKE_CL_64)
set(MSVC64 1)
endif()
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
set(CMAKE_COMPILER_IS_GNUCXX 1)
set(CMAKE_COMPILER_IS_CLANGCXX 1)
endif()
if(CMAKE_C_COMPILER_ID STREQUAL "Clang")
set(CMAKE_COMPILER_IS_GNUCC 1)
set(CMAKE_COMPILER_IS_CLANGCC 1)
endif()
if("${CMAKE_CXX_COMPILER};${CMAKE_C_COMPILER}" MATCHES "ccache")
set(CMAKE_COMPILER_IS_CCACHE 1)
endif()
# ----------------------------------------------------------------------------
# Detect Intel ICC compiler -- for -fPIC in 3rdparty ( UNIX ONLY ):
# see include/opencv/cxtypes.h file for related ICC & CV_ICC defines.
# NOTE: The system needs to determine if the '-fPIC' option needs to be added
# for the 3rdparty static libs being compiled. The CMakeLists.txt files
# in 3rdparty use the CV_ICC definition being set here to determine if
# the -fPIC flag should be used.
# ----------------------------------------------------------------------------
if(UNIX)
if (__ICL)
set(CV_ICC __ICL)
elseif(__ICC)
set(CV_ICC __ICC)
elseif(__ECL)
set(CV_ICC __ECL)
elseif(__ECC)
set(CV_ICC __ECC)
elseif(__INTEL_COMPILER)
set(CV_ICC __INTEL_COMPILER)
elseif(CMAKE_C_COMPILER MATCHES "icc")
set(CV_ICC icc_matches_c_compiler)
endif()
endif()
if(MSVC AND CMAKE_C_COMPILER MATCHES "icc|icl")
set(CV_ICC __INTEL_COMPILER_FOR_WINDOWS)
endif()
# ----------------------------------------------------------------------------
# Detect GNU version:
# ----------------------------------------------------------------------------
if(CMAKE_COMPILER_IS_CLANGCXX)
set(CMAKE_GCC_REGEX_VERSION "4.2.1")
set(CMAKE_OPENCV_GCC_VERSION_MAJOR 4)
set(CMAKE_OPENCV_GCC_VERSION_MINOR 2)
set(CMAKE_OPENCV_GCC_VERSION 42)
set(CMAKE_OPENCV_GCC_VERSION_NUM 402)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
ERROR_VARIABLE CMAKE_OPENCV_CLANG_VERSION_FULL
ERROR_STRIP_TRAILING_WHITESPACE)
string(REGEX MATCH "version.*$" CMAKE_OPENCV_CLANG_VERSION_FULL "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_CLANG_REGEX_VERSION "${CMAKE_OPENCV_CLANG_VERSION_FULL}")
elseif(CMAKE_COMPILER_IS_GNUCXX)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -dumpversion
OUTPUT_VARIABLE CMAKE_OPENCV_GCC_VERSION_FULL
OUTPUT_STRIP_TRAILING_WHITESPACE)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} ${CMAKE_CXX_COMPILER_ARG1} -v
ERROR_VARIABLE CMAKE_OPENCV_GCC_INFO_FULL
OUTPUT_STRIP_TRAILING_WHITESPACE)
# Typical output in CMAKE_OPENCV_GCC_VERSION_FULL: "c+//0 (whatever) 4.2.3 (...)"
# Look for the version number, major.minor.build
string(REGEX MATCH "[0-9]+\\.[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
if(NOT CMAKE_GCC_REGEX_VERSION)#major.minor
string(REGEX MATCH "[0-9]+\\.[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
endif()
if(CMAKE_GCC_REGEX_VERSION)
# Split the parts:
string(REGEX MATCHALL "[0-9]+" CMAKE_OPENCV_GCC_VERSIONS "${CMAKE_GCC_REGEX_VERSION}")
list(GET CMAKE_OPENCV_GCC_VERSIONS 0 CMAKE_OPENCV_GCC_VERSION_MAJOR)
list(GET CMAKE_OPENCV_GCC_VERSIONS 1 CMAKE_OPENCV_GCC_VERSION_MINOR)
else()#compiler returned just the major version number
string(REGEX MATCH "[0-9]+" CMAKE_GCC_REGEX_VERSION "${CMAKE_OPENCV_GCC_VERSION_FULL}")
if(NOT CMAKE_GCC_REGEX_VERSION)#compiler did not return anything reasonable
set(CMAKE_GCC_REGEX_VERSION "0")
message(WARNING "GCC version not detected!")
endif()
set(CMAKE_OPENCV_GCC_VERSION_MAJOR ${CMAKE_GCC_REGEX_VERSION})
set(CMAKE_OPENCV_GCC_VERSION_MINOR 0)
endif()
set(CMAKE_OPENCV_GCC_VERSION ${CMAKE_OPENCV_GCC_VERSION_MAJOR}${CMAKE_OPENCV_GCC_VERSION_MINOR})
math(EXPR CMAKE_OPENCV_GCC_VERSION_NUM "${CMAKE_OPENCV_GCC_VERSION_MAJOR}*100 + ${CMAKE_OPENCV_GCC_VERSION_MINOR}")
message(STATUS "Detected version of GNU GCC: ${CMAKE_OPENCV_GCC_VERSION} (${CMAKE_OPENCV_GCC_VERSION_NUM})")
if(WIN32)
execute_process(COMMAND ${CMAKE_CXX_COMPILER} -dumpmachine
OUTPUT_VARIABLE OPENCV_GCC_TARGET_MACHINE
OUTPUT_STRIP_TRAILING_WHITESPACE)
if(OPENCV_GCC_TARGET_MACHINE MATCHES "amd64|x86_64|AMD64")
set(MINGW64 1)
endif()
endif()
endif()
if(MSVC64 OR MINGW64)
set(X86_64 1)
elseif(MINGW OR (MSVC AND NOT CMAKE_CROSSCOMPILING))
set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "amd64.*|x86_64.*|AMD64.*")
set(X86_64 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "i686.*|i386.*|x86.*|amd64.*|AMD64.*")
set(X86 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm.*|ARM.*)")
set(ARM 1)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "^(aarch64.*|AARCH64.*)")
set(AARCH64 1)
endif()
# Workaround for 32-bit operating systems on 64-bit x86_64 processor
if(X86_64 AND CMAKE_SIZEOF_VOID_P EQUAL 4 AND NOT FORCE_X86_64)
message(STATUS "sizeof(void) = 4 on x86 / x86_64 processor. Assume 32-bit compilation mode (X86=1)")
unset(X86_64)
set(X86 1)
endif()
# Similar code exists in OpenCVConfig.cmake
if(NOT DEFINED OpenCV_STATIC)
# look for global setting
if(NOT DEFINED BUILD_SHARED_LIBS OR BUILD_SHARED_LIBS)
set(OpenCV_STATIC OFF)
else()
set(OpenCV_STATIC ON)
endif()
endif()
if(MSVC)
if(CMAKE_CL_64)
set(OpenCV_ARCH x64)
elseif((CMAKE_GENERATOR MATCHES "ARM") OR ("${arch_hint}" STREQUAL "ARM") OR (CMAKE_VS_EFFECTIVE_PLATFORMS MATCHES "ARM|arm"))
# see Modules/CmakeGenericSystem.cmake
set(OpenCV_ARCH ARM)
else()
set(OpenCV_ARCH x86)
endif()
if(MSVC_VERSION EQUAL 1400)
set(OpenCV_RUNTIME vc8)
elseif(MSVC_VERSION EQUAL 1500)
set(OpenCV_RUNTIME vc9)
elseif(MSVC_VERSION EQUAL 1600)
set(OpenCV_RUNTIME vc10)
elseif(MSVC_VERSION EQUAL 1700)
set(OpenCV_RUNTIME vc11)
elseif(MSVC_VERSION EQUAL 1800)
set(OpenCV_RUNTIME vc12)
elseif(MSVC_VERSION EQUAL 1900)
set(OpenCV_RUNTIME vc14)
elseif(MSVC_VERSION EQUAL 1910)
set(OpenCV_RUNTIME vc15)
endif()
elseif(MINGW)
set(OpenCV_RUNTIME mingw)
if(MINGW64)
set(OpenCV_ARCH x64)
else()
set(OpenCV_ARCH x86)
endif()
endif()
sudo apt-get install libv4l-dev
sudo ln -s /usr/include/libv4l1-videodev.h /usr/include/linux/videodev.h
cv::imshow("DynaSLAM: Current Frame",im);
修改为
if(!im.empty())
{
cv::imshow("DynaSLAM: Current Frame",im);
}
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/lmx/rgbd_dataset_freiburg1_rpy data/mask
至此,全部完结。。。。。。。。。(如遇不明白的欢迎留言交流)
重点推荐:参考两篇博文
https://blog.csdn.net/qq_43525260/article/details/105746452
https://zhuanlan.zhihu.com/p/119422186