ubuntu18.04+ORB_SLAM2安装
1.安装Pangolin ，作为可视化和用户界面
sudo apt-get install libglew-dev libpython2.7-dev
版本下载v0.5的版本，不然后面会报错
cd Pangolin
mkdir build
cd build
cmake ..
make –j
sudo make install
2 安装OpenCV ，用于处理图像和特征
要求版本最低为2.4.3，并在OpenCV 2.4.11和OpenCV 3.2上做了测试。
注意：这里的版本问题非常重要，不同的版本号可能会不兼容，会出现各种错误，只能重新编译，对没有经验的开发者还会花费大量的时间寻找错误和解决问题。
在本次实验中，我首次使用的OpenCV 3.2，但是最后出现了错误，改用OpenCV 2.4.11后成功。
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
在OpenCV官网（http://opencv.org）下载OpenCV 2.4.11的source版本，然后解压到本地
可能遇到的错误：
1.
CMake Error at cmake/OpenCVDetectCXXCompiler.cmake:89 (math):
math cannot parse the expression: "*100 + ": syntax error, unexpected
将OpenCVDetectCXXCompiler.cmake的内容替换为如下：
# ----------------------------------------------------------------------------
# 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()
2
/usr/include/c++/7/cstdlib:75:15: fatal error: stdlib.h: 没有那个文件或目录
cmake用下面指令
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. -D ENABLE_PRECOMPILED_HEADERS=OFF .. -D WITH_FFMPEG=OFF ..
3
[ 17%] Building CXX object modules/highgui/CMakeFiles/opencv_highgui.dir/src/grfmt_exr.cpp.o
In file included from /home/hri/MyInstallSoftware/opencv-2.4.10/modules/highgui/src/cap_ffmpeg_impl.hpp:60:0,
from /home/hri/MyInstallSoftware/opencv-2.4.10/modules/highgui/src/cap_ffmpeg.cpp:45:
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/highgui/src/ffmpeg_codecs.hpp:104:7: error: ‘CODEC_ID_H264’ was not declared in this scope
{ CODEC_ID_H264, MKTAG('H', '2', '6', '4') },
^~~~~~~~~~~~~
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/highgui/src/ffmpeg_codecs.hpp:104:7: note: suggested alternative: ‘AV_CODEC_ID_H264’
{ CODEC_ID_H264, MKTAG('H', '2', '6', '4') },
^~~~~~~~~~~~~
AV_CODEC_ID_H264
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/highgui/src/ffmpeg_codecs.hpp:105:7: error: ‘CODEC_ID_H264’ was not declared in this scope
{ CODEC_ID_H264, MKTAG('h', '2', '6', '4') },
^~~~~~~~~~~~~
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/highgui/src/ffmpeg_codecs.hpp:105:7: note: suggested alternative: ‘AV_CODEC_ID_H264’
{ CODEC_ID_H264, MKTAG('h', '2', '6', '4') },
^~~~~~~~~~~~~
AV_CODEC_ID_H264
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/highgui/src/ffmpeg_codecs.hpp:106:7: error: ‘CODEC_ID_H264’ was not declared in this scope
{ CODEC_ID_H264, MKTAG('X', '2', '6', '4') },
^~~~~~~~~~~~~
......
cmake用下面指令
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. -D ENABLE_PRECOMPILED_HEADERS=OFF .. -D WITH_FFMPEG=OFF ..
编译过程会花费较长时间，电脑CPU性能较低的建议不要使用make -j，容易卡死；CPU性能较高的可以使用make -jx，x代表线程，可加速编译。
4
contrib模块错误
[ 96%] Building CXX object modules/contrib/CMakeFiles/opencv_contrib.dir/src/colortracker.cpp.o
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp: In member function ‘void cv::ChamferMatcher::Matching::computeDistanceTransform(cv::Mat&, cv::Mat&, cv::Mat&, float, float, float)’:
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp:969:30: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
^
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp:1016:34: error: the compiler can assume that the address of ‘annotate_img’ will never be NULL [-Werror=address]
if (&annotate_img!=NULL) {
^
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp: In member function ‘cv::ChamferMatcher::Match* cv::ChamferMatcher::Matching::localChamferDistance(cv::Point, cv::Mat&, cv::Mat&, cv::ChamferMatcher::Template*, float)’:
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp:1111:25: error: the compiler can assume that the address of ‘orientation_img’ will never be NULL [-Werror=address]
if (&orientation_img!=NULL) {
^
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp:1111:5: warning: nonnull argument ‘orientation_img’ compared to NULL [-Wnonnull-compare]
if (&orientation_img!=NULL) {
^~
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp: In member function ‘void cv::ChamferMatcher::Matching::computeDistanceTransform(cv::Mat&, cv::Mat&, cv::Mat&, float, float, float)’:
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp:1016:17: warning: nonnull argument ‘annotate_img’ compared to NULL [-Wnonnull-compare]
if (&annotate_img!=NULL) {
^~
/home/hri/MyInstallSoftware/opencv-2.4.10/modules/contrib/src/chamfermatching.cpp:969:13: warning: nonnull argument ‘annotate_img’ compared to NULL [-Wnonnull-compare]
if (&annotate_img!=NULL) {
^~
找到opencv-2.4.11/build/modules/contrib/CMakeFiles/opencv_contrib.dir/flags.make文件
删掉-Werror=address
然后重新 make
3 安装Eigen3，它是一个开源线性库，可进行矩阵运算
$ sudo apt-get install libeigen3-dev
4 安装DBoW2和g2o
DBoW2是DBow库的改进版本，DBow库是一个开源的C++库，用于索引图像并将其转换为单词表示形式。
g2o是一个开源的C ++框架，用于优化基于图的非线性误差函数。
这两个库在ORB-SLAM2项目的第三方文件夹中，在此不单独编译，后续统一编译。
5 安装ORB-SLAM2
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
问题：
1
ORB_SLAM2/src/System.cc: error: ‘usleep’ was not declared in this scope usleep(5000);
解决方案：
找到对应的System.cc文件的首部加入 头文件
#include
需要根据实际情况，提示哪个文件usleep有问题，就去加这个头文件。
需要增加unistd.h的文件还有：
Examples/Monocular/mono_euroc.cc
Examples/Monocular/mono_kitti.cc
Examples/Monocular/mono_tum.cc
Examples/RGB-D/rgbd_tum.cc
Examples/Stereo/stereo_euroc.cc
Examples/Stereo/stereo_kitti.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/System.cc
src/Tracking.cc
src/Viewer.cc