2.安装必备软件:
(1)更新apt库
sudo apt-get update
(2)安装git
sudo apt-get install git
(3)安装cmake
sudo apt-get install cmake
(4)安装Pangolin
安装依赖:
a、openglGLEW:
sudo apt-get install libglew-dev
c、Boost:
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
d、Python2/Python3:
sudo apt-get install libpython2.7-dev
e、编译基础库
sudo apt-get install build-essential
安装Pangolin:
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
在移动硬盘的常用软件中(编译过了)
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 …
make -j4
sudo make install
(5)安装OpenCV
安装依赖:
a、编译器相关:
sudo apt-get install build-essential
下面的是直接高博的:
sudo apt-get install libopencv-dev libeigen3-dev libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev
libcxsparse3.1.2 libcholmod-dev
可能会出现后面连个安装不上的情况,不用管libcxsparse3.1.2 libcholmod-dev
这个是网站上的
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev
libavformat-dev libswscale-dev
安装Eigen
在常用软件包里
mkdir build
cd build
cmake ..
make
sudo make install
7)安装BLAS and LAPACK库
sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev
如果在其中出现问题:
usleep未定义:
错误信息:
/home/melanie/source/SmartCar/ORM_SLAM2/ORB_SLAM2/src/Viewer.cc:159:28:
error: ‘usleep’ was not declared in this scope usleep(3000);
^CMakeFiles/ORB_SLAM2.dir/build.make:494: recipe for target
'CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o' failedmake[2]:
*** [CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o]
Error 1CMakeFiles/Makefile2:178: recipe for target 'CMakeFiles/ORB_SLAM2.dir/all' failedmake[1]: *** [CMakeFiles/ORB_SLAM2.dir/all]
Error 2Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
解决方案:
在source文件的开头增加include#include <unistd.h>
需要增加unistd.h的文件有:
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
记得按照ORB_SLAM2/build.sh的要求重新编译DBow和G20.
不然在初始化后就会崩溃。