原 Jeston TX2-ORBSLAM2_with_pointcloud_map

github上的工程项目：ORBSLAM2_with_pointcloud_map，用于实现orbslam2的稠密建图

环境搭建步骤如下：

1.编译Opencv

参照之前博客安装

2.编译Pangolin

github链接：Pangolin

Required Dependencies

• C++11

• OpenGL (Desktop / ES / ES2)

• Glew

  • (win) built automatically (assuming git is on your path)
  • (deb) sudo apt-get install libglew-dev
  • (mac) sudo port install glew

• CMake (for build environment)

  • (win) http://www.cmake.org/cmake/resources/software.html
  • (deb) sudo apt-get install cmake
  • (mac) sudo port install cmake

Building

Pangolin uses the CMake portable pre-build tool. To checkout and build pangolin in the directory 'build', execute the following at a shell (or the equivelent using a GUI):

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .

If you would like to build the documentation and you have Doxygen installed, you can execute:

cmake --build . --target doc

3.编译PCL

因为作者采用pclviewer观察点云，因而需要安装pcl

sudo apt-get install libpcl-1.7

4.编译g2o

作者使用的是修改后的g2o，相关安装流程可以参考官方github链接：g2o

(1)依赖项的安装

• cmake http://www.cmake.org/
• Eigen3 http://eigen.tuxfamily.org

其中cmake可以直接使用该语句进行安装

sudo apt-get install cmake

该github工程中的cmakelist.txt中注明了Eigen3的版本为3.1，实测只有3.1～3.2之内的版本有效。

• mkdir build
• cd build && cmake ..
• make install

(2)编译g2o

• mkdir build
• cd build
• cmake ../
• make

因为作者github工程的cmakelist.txt中并未手动设定g2o的文件路径，采取自动查找的方式，因而需要

• make install

5.拷贝ORBvoc.txt.tar.gz并提取

作者并没有在工程中放入ORBvoc.txt.tar.gz字典，因而从ORB_SLAM2此处下载字典，拷贝至Vocabulary并提取。

6.编译DBoW2

• mkdir build
• cd build
• cmake ../
• make

7.编译ORB_SLAM2_modified

(1)修改cmakelist.txt

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

#set(CMAKE_CXX_COMPILER "clang++")

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.3 REQUIRED)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package( G2O REQUIRED )
find_package( PCL 1.7 REQUIRED )

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

add_definitions( ${PCL_DEFINITIONS} )
link_directories( ${PCL_LIBRARY_DIRS} )

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/pointcloudmapping.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension g2o_types_sim3 g2o_types_sba
${PCL_LIBRARIES}
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

add_executable(rgbd_my
Examples/RGB-D/rgbd_my.cc)
target_link_libraries(rgbd_my ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

(2)编译

• mkdir build
• cd build
• cmake ../
• make

8.下载测试数据集并测试结果

下载地址参见：ORB_SLAM2的readme文档