Ubuntu16.04 ORB-SLAM2运行

Ubuntu16.04 ORB-SLAM2运行

官方文档ORB-SLAM2，依赖项：Eigen3，OpenCV，g2o，Pangolin，DBoW2/DBoW3，安装Ubuntu16.04 SLAM环境配置

1.ORB-SLAM2安装

1）通用组件

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

cd ORB_SLAM2
chmod +x build.sh && ./build.sh

2）ROS接口（选装）

sudo gedit ~/.bashrc
将export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS修改为本地路径,复制到打开的文件末尾，保存关闭

打开ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt，添加-lboost_system，修改后局部代码如下
set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

cd ORB_SLAM2
chmod +x build_ros.sh && ./build_ros.sh

2.官方示例运行

参考官方文档ORB-SLAM2

3.基于ROS和相机运行

sudo apt-get install ros-kinetic-rgbd-launch