参考下载链接:TUM数据集,这里我选择 _fr3/long_office_household_数据集,右键对应的tgz文件,复制选择迅雷下载,下载完成使用 tar zxvf rgbd_dataset_freiburg3_long_office_household.tgz
解压文件。
1)安装依赖库:Glew、CMake(升级参考 问题1)、 Boost 、Eigen、OpenCV库、Python2/Python3,使用下列指令:
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install libeigen3-dev
unzip pangolin.zip
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j
3)安装过程遇到的问题:
1)准备工作做好后,可以开始编译orb-slam2库
cd ORB_SLAM2
chmod +x build.sh
./build.sh
2)编译完成后,执行demo,如下列语句:
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM3.yaml /home/wuhd/wuhd/DataSet/rgbd_dataset_freiburg3_long_office_household
如果没有错误,则会正常显示相机状态和地图构建。
[En]
If there is no error, the camera status and map construction will be displayed normally.
2)修改配置文件
build.sh:
#cmake .. -DCMAKE_BUILD_TYPE=Release
将Release模式修改为Debug模式。 特别注意:有三行都需要将Release改为Debug!!!
cmake .. -DCMAKE_BUILD_TYPE=Debug
CMakeLists.txt:
#set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
#将上述注释掉修改为下面
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -g")
task.json:
{
"version": "2.0.0",
"tasks": [
{
"label": "build",
"type": "shell",
"command": "./build.sh"
}
]
}
launch.json:
{
"version": "0.2.0",
"configurations": [
{
"name": "(gdb) 启动",
"type": "cppdbg",
"request": "launch",
"program": "${workspaceFolder}/Examples/Monocular/mono_tum",
"args": ["${workspaceFolder}/Vocabulary/ORBvoc.txt",
"${workspaceFolder}/Examples/Monocular/TUM3.yaml",
"/home/wuhd/wuhd/orb-sl2/data/rgbd_dataset_freiburg3_long_office_household"],
"stopAtEntry": false,
"preLaunchTask": "build",//这一步的build与tasks.json中的type名字相同
"cwd": "${workspaceFolder}",
"environment": [],
"externalConsole": false,
"MIMode": "gdb",
"setupCommands": [
{
"description": "为 gdb 启用整齐打印",
"text": "-enable-pretty-printing",
"ignoreFailures": true
}
]
}
]
}
这里我没有配置该文件:c_cpp_properties.json(当前系统环境配置不完整时,需要通过生成c_cpp_properties.json文件来配置缺少的信息。)
Original: https://blog.csdn.net/qq_46515446/article/details/122669280
Author: Jerry_Sea
Title: SLAM知识点——ORB-SLAM2跑通代码
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