【ORB_SLAM2】Ubuntu 20.04编译跑通ORB_SLAM2、ORB_SLAM3

~/$ git clone https://github.com/raulmur/ORB_SLAM2
~/$ cd ORB_SLAM2
~/ORB_SLAM2$ ./build.sh
hirdparty/DBoW2 ...
mkdir: cannot create directory ‘build’: File exists
./build.sh: line 6: cmake: command not found
./build.sh: line 7: make: command not found
Configuring and building Thirdparty/g2o ...
mkdir: cannot create directory ‘build’: File exists
./build.sh: line 15: cmake: command not found
./build.sh: line 16: make: command not found
Uncompress vocabulary ...
Configuring and building ORB_SLAM2 ...
mkdir: cannot create directory ‘build’: File exists
./build.sh: line 30: cmake: command not found
./build.sh: line 31: make: command not found

Command ‘cmake’ not found

 sudo apt  install cmake

No CMAKE_CXX_COMPILER could be found

sudo apt install -y build-essential

OpenCV > 2.4.3 not found

尝试安装ROS解决问题

先安装ROS

http://wiki.ros.org/noetic/Installation/Ubuntu

The repository ‘http://packages.ros.org/ros/ubuntu focal InRelease’ is not signed.

 sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

依然报错，最终更改编译文件解决

find_package(OpenCV 3.0 QUIET)

/home/xq/ORB_SLAM2/Thirdparty/DBoW2/CMakeLists.txt
find_package(OpenCV QUIET)

/home/xq/ORB_SLAM2/CMakeLists.txt
find_package(OpenCV QUIET)

安装ROS的时候会安装EIgen和OpenCV，我没有另外安装。

PangolinConfig.cmake、pangolin-config.cmake

下载 https://github.com/stevenlovegrove/Pangolin/archive/refs/tags/v0.6.zip

ORBextractor.h:26:10: fatal error: opencv/cv.h

#include 
替换为
#include
#include 

Viewer.cc:160:17: error: ‘usleep’

/home/ORB_SLAM2/include/system.h
#include

stl_map.h:122:71: error: static assertion failed:

/home/ORB_SLAM2/include/LoopClosing.h

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
改为

typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
        Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;

mono_tum.cc:68:68: error: ‘CV_LOAD_IMAGE_UNCHANGED’

replaced CV_LOAD_IMAGE_UNCHANGED with it's enum value -1

同样的编译./build_ros需要更改编译文件

添加环境变量

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

下载TUM单目数据集

可添加微信 slamshizhaniaoheng 获取

终端运行命令

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/xq/datasets/rgbd_dataset_freiburg1_xyz

下载TUM RGBD数据集

可添加微信 slamshizhaniaoheng 获取

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/xq/datasets/rgbd_dataset_freiburg1_xyz /home/xq/datasets/rgbd_dataset_freiburg1_xyz/associations.txt

编译ORB_SLAM3

报错和解决方法同ORB_SLAM2

【ORB_SLAM3源码解读】Ubuntu 16.04 编译跑通 ORB_SLAM3 各个版本
【ORB_SLAM2】Ubuntu 20.04编译跑通ORB_SLAM2、ORB_SLAM3
【ORB_SLAM2源码解读】Ubuntu 16.04 TUM、EuRoC单目数据集跑通ORB_SLAM2
【ORB_SLAM2源码解读】Ubuntu 16.04 EuRoC双目数据集跑通ORB_SLAM2
【ORB_SLAM2源码解读】Ubuntu 16.04 TUM RGBD 数据集跑通ORB_SLAM2
【ORB_SLAM2源码解读】Ubuntu 16.04 RealSense D435i 实时跑ORB_SLAM2单目、双目、RGBD

ORB_SLAM3源码解读

【ORB_SLAM3源码解读】原理解读代码实战