ORB SLAM在Ubuntu14.04下环境配置

在ubuntu14.04下安装Opencv2.4.9 
安装 OpenCV 


步骤一：创建目录 


mkdir opencv 


cd /opencv/ 


步骤二：卸载任何以前安装的ffmpeg和x264软件 


sudo apt-get -qq remove ffmpeg x264 libx264-dev 


步骤三：安装一些依赖关系 

sudo apt-get -qq install libopencv-dev build-essential checkinstall cmake pkg-config yasm libjpeg-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libdc1394-22-dev libxine-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev python-dev python-numpy libtbb-dev libqt4-dev libgtk2.0-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils 


-安装ffmpeg 


sudo add-apt-repository ppa:mc3man/trusty-media 


sudo apt-get update 


sudo apt-get install ffmpeg gstreamer0.10-ffmpeg 


Step 4: Download and extract OpenCV 


步骤四：下载和解压提取OpenCV 


1. 先从sourceforge上下载OpenCV的源码 


wget -O opencv-2.4.9.zip http://jaist.dl.sourceforge.net/project/opencvlibrary/opencv-unix/2.4.9/opencv-2.4.9.zip 


2. 解压到任意目录 


unzip opencv-2.4.9.zip 


3. 进入源码目录，创建release目录 
 
cd opencv-2.4.9 

mkdir release  

4. 可以看到在OpenCV目录下，有个CMakeLists.txt文件，需要事先安装一些软件 


sudo apt-get install build-essential cmake libgtk2.0-dev pkg-config python-dev python-numpy libavcodec-dev libavformat-dev libswscale-dev  




5.  进入release目录，安装OpenCV是所有的文件都会被放到这个release目录下 


cd release  


6. cmake编译OpenCV源码，安装所有的lib文件都会被安装到/usr/local目录下 

cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..  


7. 安装 

sudo make install  

ORB SLAM之Pangolin安装（Ubuntu14.04）

安装Pangolin

1.pangolin是什么？

Pangolin是一个用于OpenGL显示/交互以及视频输入的一个轻量级、快速开发库，下面是Pangolin的Github网址：
https://github.com/stevenlovegrove/Pangolin
2.我们为什么要用Pangolin？在哪里可以用到Pangolin？
ORB_SLAM2中需要有Pangolin的支持。 
3.安装过程？
按照Github上面的教程走即可，非常简单（https://github.com/stevenlovegrove/Pangolin）。

(1)安装一些必要的库：

Glew：

sudo apt-get install libglew-dev
CMake：
sudo apt-get install cmake
Boost：
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
Python2 / Python3：
sudo apt-get install libpython2.7-dev
 
(2)在安装完上述依赖后，就可以开始安装Pangolin了，安装过程十分简单：
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build


cmake -DCPP11_NO_BOOST=1 ..
make -j

(3)这时，你可能会遇到如下问题：

 
看得很头大是吧？没关系，只要看到错误信息中关键的内容就好了。
提示的错误大部分是跟openni.h和XnCppWrapper.h有关的。
而我们这里编译Pangolin时，并不需要用到OpenNI，可以在编译时将其屏蔽：
cd Pangolin/src
vim CMakeLists.txt (这里选择你自己喜欢的编辑器)

看到这里的OpenNI和OpenNI2的部分了吧，将其全部注释掉即可。

之后，重新编译Pangolin：

make -j

运行！！！

普通单目摄像头实现ORBSLAM2
1. 使用usb_cam作为单目相机驱动
　　从https://github.com/bosch-ros-pkg/usb_cam下载usb_cam，放到工作空间catkin_ws/src下，catkin_make编译

cd /home/lzp/catkin_mono_orb/src/usb_cam

cd launch

gedit usb_cam-test.launch

将以下launch文件内容复制到launch文件中：


<launch>
  <node name="camera" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="camera" />
    <param name="io_method" value="mmap"/>
    <remap from="/usb_cam/image_raw" to="/camera/image_raw" />
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/camera/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>


<remap from="/usb_cam/image_raw" to="/camera/image_raw" />
<remap from="image" to="/camera/image_raw"/>
对两句进行了修改


怎样把普通摄像头图像发布到ROS 的TOPIC


2. 中间过程与RGBD过程相同
3. 实现（分别开3个终端，主要运行此处就可以）
第一个终端
cd /home/moon/ORB_SLAM2
   roscore
第二个终端   打开摄像头

cd /home/moon/catkin_ws
source devel/setup.bash
roslaunch usb_cam usb_cam-test.launch


第三个终端 运行程序
cd /home/moon/catkin_ws
source /etc/profile


rosrun ORB_SLAM2 Mono /home/moon/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/moon/ORB_SLAM2/Examples/Monocular/TUM1.yaml 


# 显示建图画面(ros indigo) 
rosrun rviz rviz 

～～～～～～～～～～～～～～～～～～以下为详细介绍～～～～～～～～～～～～～～～～～～～


二/打开摄像头
moon@moon-Precision-T1650:~/catkin_ws$ source devel/setup.bash 
moon@moon-Precision-T1650:~/catkin_ws$ roslaunch usb_cam usb_cam-test.launch 
三  运行最后程序
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make 
Base path: /home/moon/catkin_ws 
Source space: /home/moon/catkin_ws/src 
Build space: /home/moon/catkin_ws/build 
Devel space: /home/moon/catkin_ws/devel 
Install space: /home/moon/catkin_ws/install 
Multiple packages found with the same name "usb_cam": 
- ORB_SLAM2/src/usb_cam-develop 
- usb_cam-develop 
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make 
Base path: /home/moon/catkin_ws 
Source space: /home/moon/catkin_ws/src 
Build space: /home/moon/catkin_ws/build 
Devel space: /home/moon/catkin_ws/devel 
Install space: /home/moon/catkin_ws/install 
#### 
#### Running command: "make cmake_check_build_system" in "/home/moon/catkin_ws/build" 
#### 
#### 
#### Running command: "make -j4 -l4" in "/home/moon/catkin_ws/build" 
#### 
[ 50%] Built target usb_cam 
[100%] Built target usb_cam_node 
moon@moon-Precision-T1650:~/catkin_ws$ cd /etc/ 
moon@moon-Precision-T1650:/etc$ sudo gedit profile 
[sudo] password for moon: 


(gedit:13158): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files 


(gedit:13158): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files 
moon@moon-Precision-T1650:/etc$ source /etc/profile 
moon@moon-Precision-T1650:/etc$ rosrun ORB_SLAM2 
Usage: rosrun [--prefix cmd] [--debug] PACKAGE EXECUTABLE [ARGS] 
  rosrun will locate PACKAGE and try to find 
  an executable named EXECUTABLE in the PACKAGE tree. 
  If it finds it, it will run it with ARGS. 
moon@moon-Precision-T1650:/etc$ rosrun ORB_SLAM2 ORB_SLAM2 
[rosrun] Couldn't find executable named ORB_SLAM2 below /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2 
[rosrun] Found the following, but they're either not files, 
[rosrun] or not executable: 
[rosrun]   /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2 
moon@moon-Precision-T1650:/etc$ cd /home/moon/ 
moon@moon-Precision-T1650:~$ ls 
build      CMakeLists.txt  ORB_SLAM2  公共的  视频  文档  音乐 
catkin_ws  opencv          Pangolin   模板    图片  下载  桌面 
moon@moon-Precision-T1650:~$ cd catkin_ws/ 
moon@moon-Precision-T1650:~/catkin_ws$ ls 
build  devel  src 
moon@moon-Precision-T1650:~/catkin_ws$ ca 
cal                              catkin_find 
calendar                         catkin_find_pkg 
calibrate_ppa                    catkin_generate_changelog 
caller                           catkin_init_workspace 
canberra-gtk-play                catkin_make 
cancel                           catkin_make_isolated 
canonical-certification-server   catkin_package_version 
canonical-driver-test-suite-cli  catkin_prepare_release 
capsh                            catkin_tag_changelog 
captoinfo                        catkin_test_changelog 
case                             catkin_test_results 
cat                              catkin_topological_order 
catchsegv                        catman 
catkin_create_pkg                cautious-launcher 
moon@moon-Precision-T1650:~/catkin_ws$ ca 
cal                              catkin_find 
calendar                         catkin_find_pkg 
calibrate_ppa                    catkin_generate_changelog 
caller                           catkin_init_workspace 
canberra-gtk-play                catkin_make 
cancel                           catkin_make_isolated 
canonical-certification-server   catkin_package_version 
canonical-driver-test-suite-cli  catkin_prepare_release 
capsh                            catkin_tag_changelog 
captoinfo                        catkin_test_changelog 
case                             catkin_test_results 
cat                              catkin_topological_order 
catchsegv                        catman 
catkin_create_pkg                cautious-launcher 
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make 
Base path: /home/moon/catkin_ws 
Source space: /home/moon/catkin_ws/src 
Build space: /home/moon/catkin_ws/build 
Devel space: /home/moon/catkin_ws/devel 
Install space: /home/moon/catkin_ws/install 
#### 
#### Running command: "make cmake_check_build_system" in "/home/moon/catkin_ws/build" 
#### 
#### 
#### Running command: "make -j4 -l4" in "/home/moon/catkin_ws/build" 
#### 
[ 50%] Built target usb_cam 
[100%] Built target usb_cam_node 
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make 
Base path: /home/moon/catkin_ws 
Source space: /home/moon/catkin_ws/src 
Build space: /home/moon/catkin_ws/build 
Devel space: /home/moon/catkin_ws/devel 
Install space: /home/moon/catkin_ws/install 
Invalid package manifest "/home/moon/catkin_ws/src/ORB_SLAM2/package.xml": The manifest must contain exactly one "version" tags 
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make 
Base path: /home/moon/catkin_ws 
Source space: /home/moon/catkin_ws/src 
Build space: /home/moon/catkin_ws/build 
Devel space: /home/moon/catkin_ws/devel 
Install space: /home/moon/catkin_ws/install 
WARNING: Package name "ORB_SLAM2" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. 
Invalid package manifest "/home/moon/catkin_ws/src/ORB_SLAM2/package.xml": Package version "2.0" does not follow version conventions 
moon@moon-Precision-T1650:~/catkin_ws$ catkin_make 
Base path: /home/moon/catkin_ws 
Source space: /home/moon/catkin_ws/src 
Build space: /home/moon/catkin_ws/build 
Devel space: /home/moon/catkin_ws/devel 
Install space: /home/moon/catkin_ws/install 
#### 
#### Running command: "cmake /home/moon/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/moon/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/moon/catkin_ws/install -G Unix Makefiles" in "/home/moon/catkin_ws/build" 
#### 
-- Using CATKIN_DEVEL_PREFIX: /home/moon/catkin_ws/devel 
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo 
-- This workspace overlays: /opt/ros/indigo 
-- Using PYTHON_EXECUTABLE: /usr/bin/python 
-- Using Debian Python package layout 
-- Using empy: /usr/bin/empy 
-- Using CATKIN_ENABLE_TESTING: ON 
-- Call enable_testing() 
-- Using CATKIN_TEST_RESULTS_DIR: /home/moon/catkin_ws/build/test_results 
-- Found gtest sources under '/usr/src/gtest': gtests will be built 
-- Using Python nosetests: /usr/bin/nosetests-2.7 
-- catkin 0.6.18 
-- BUILD_SHARED_LIBS is on 
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 
-- ~~  traversing 2 packages in topological order: 
-- ~~  - orb_slam 
-- ~~  - usb_cam 
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 
-- +++ processing catkin package: 'orb_slam' 
-- ==> add_subdirectory(ORB_SLAM2) 
[rosbuild] Building package src 
[rosbuild] Error from syntax check of src/manifest.xml 
Traceback (most recent call last): 
  File "<string>", line 1, in <module> 
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifest.py", line 139, in parse_file 
    return roslib.manifestlib.parse_file(Manifest(), file) 
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifestlib.py", line 497, in parse_file 
    raise ValueError("Invalid/non-existent manifest file: %s"%file) 
ValueError: Invalid/non-existent manifest file: manifest.xml 
CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:78 (message): 
  [rosbuild] Syntax check of src/manifest.xml failed; aborting 
Call Stack (most recent call first): 
  /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest) 
  ORB_SLAM2/CMakeLists.txt:4 (rosbuild_init) 




-- Configuring incomplete, errors occurred! 
See also "/home/moon/catkin_ws/build/CMakeFiles/CMakeOutput.log". 
See also "/home/moon/catkin_ws/build/CMakeFiles/CMakeError.log". 
Invoking "cmake" failed 
moon@moon-Precision-T1650:~/catkin_ws$ ls 
build  devel  src 
moon@moon-Precision-T1650:~/catkin_ws$ cd src/ 
moon@moon-Precision-T1650:~/catkin_ws/src$ ls 
CMakeLists.txt  ORB_SLAM2  usb_cam-develop 
moon@moon-Precision-T1650:~/catkin_ws/src$ cd ORB_SLAM2/ 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls 
CMakeLists.txt  manifest.xml~  package.xml  package.xml~  src 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ rm manifest.xml~ 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd src/ 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ ls 
ros_mono.cc  ros_rgbd.cc  ros_stereo.cc 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ ls 
ros_mono.cc  ros_rgbd.cc  ros_stereo.cc 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ cd .. 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls 
CMakeLists.txt  package.xml  package.xml~  src 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls 
CMakeLists.txt  package.xml  package.xml~  src 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ mkdir build 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls 
build  CMakeLists.txt  package.xml  package.xml~  src 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd build/ 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release 
-- The C compiler identification is GNU 4.8.4 
-- The CXX compiler identification is GNU 4.8.4 
-- Check for working C compiler: /usr/bin/cc 
-- Check for working C compiler: /usr/bin/cc -- works 
-- Detecting C compiler ABI info 
-- Detecting C compiler ABI info - done 
-- Check for working CXX compiler: /usr/bin/c++ 
-- Check for working CXX compiler: /usr/bin/c++ -- works 
-- Detecting CXX compiler ABI info 
-- Detecting CXX compiler ABI info - done 
-- Found PythonInterp: /usr/bin/python (found version "2.7.6") 
[rosbuild] Building package ORB_SLAM2 
[rosbuild] Error from syntax check of ORB_SLAM2/manifest.xml 
Traceback (most recent call last): 
  File "<string>", line 1, in <module> 
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifest.py", line 139, in parse_file 
    return roslib.manifestlib.parse_file(Manifest(), file) 
  File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifestlib.py", line 497, in parse_file 
    raise ValueError("Invalid/non-existent manifest file: %s"%file) 
ValueError: Invalid/non-existent manifest file: manifest.xml 
CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:78 (message): 
  [rosbuild] Syntax check of ORB_SLAM2/manifest.xml failed; aborting 
Call Stack (most recent call first): 
  /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest) 
  CMakeLists.txt:4 (rosbuild_init) 




-- Configuring incomplete, errors occurred! 
See also "/home/moon/catkin_ws/src/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log". 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ ^C 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release 
[rosbuild] Building package ORB_SLAM2 
[rosbuild] Error from directory check: /opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /home/moon/catkin_ws/src/ORB_SLAM2 
1 
Traceback (most recent call last): 
  File "/opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py", line 48, in <module> 
    raise Exception 
Exception 
CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:102 (message): 
  [rosbuild] rospack found package "ORB_SLAM2" at 
  "/home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2", but the current directory is 
  "/home/moon/catkin_ws/src/ORB_SLAM2".  You should double-check your 
  ROS_PACKAGE_PATH to ensure that packages are found in the correct 
  precedence order. 
Call Stack (most recent call first): 
  /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location) 
  CMakeLists.txt:4 (rosbuild_init) 




-- Configuring incomplete, errors occurred! 
See also "/home/moon/catkin_ws/src/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log". 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cd .. 
moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd .. 
moon@moon-Precision-T1650:~/catkin_ws/src$ cd .. 
moon@moon-Precision-T1650:~/catkin_ws$ ls 
build  devel  src 
moon@moon-Precision-T1650:~/catkin_ws$ cd .. 
moon@moon-Precision-T1650:~$ ls 
build  catkin_ws  CMakeLists.txt  opencv  ORB_SLAM2  Pangolin  公共的  模板  视频  图片  文档  下载  音乐  桌面 
moon@moon-Precision-T1650:~$ cd ORB_SLAM2/ 
moon@moon-Precision-T1650:~/ORB_SLAM2$ ls 
build     CMakeLists.txt  Dependencies.md  include  License-gpl.txt  README.md  Thirdparty 
build.sh  cmake_modules   Examples         lib      LICENSE.txt      src        Vocabulary 
moon@moon-Precision-T1650:~/ORB_SLAM2$ cd Examples/ 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples$ ls 
Monocular  RGB-D  ROS  Stereo 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples$ cd ROS/ 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS$ ls 
ORB_SLAM2 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS$ cd ORB_SLAM2/ 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls 
CMakeLists.txt  manifest.xml  src 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ cd src/ 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src$ cd .. 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls 
CMakeLists.txt  manifest.xml  src 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ mkdir build 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ cd build/ 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release 
-- The C compiler identification is GNU 4.8.4 
-- The CXX compiler identification is GNU 4.8.4 
-- Check for working C compiler: /usr/bin/cc 
-- Check for working C compiler: /usr/bin/cc -- works 
-- Detecting C compiler ABI info 
-- Detecting C compiler ABI info - done 
-- Check for working CXX compiler: /usr/bin/c++ 
-- Check for working CXX compiler: /usr/bin/c++ -- works 
-- Detecting CXX compiler ABI info 
-- Detecting CXX compiler ABI info - done 
-- Found PythonInterp: /usr/bin/python (found version "2.7.6") 
[rosbuild] Building package ORB_SLAM2 
[rosbuild] Cached build flags older than manifests; calling rospack to get flags 
-- Using CATKIN_DEVEL_PREFIX: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel 
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo 
-- This workspace overlays: /opt/ros/indigo 
-- Using PYTHON_EXECUTABLE: /usr/bin/python 
-- Using Debian Python package layout 
-- Using empy: /usr/bin/empy 
-- Using CATKIN_ENABLE_TESTING: ON 
-- Skip enable_testing() for dry packages 
-- Using CATKIN_TEST_RESULTS_DIR: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results 
-- Looking for include file pthread.h 
-- Looking for include file pthread.h - found 
-- Looking for pthread_create 
-- Looking for pthread_create - not found 
-- Looking for pthread_create in pthreads 
-- Looking for pthread_create in pthreads - not found 
-- Looking for pthread_create in pthread 
-- Looking for pthread_create in pthread - found 
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gtest': gtests will be built 
-- Using Python nosetests: /usr/bin/nosetests-2.7 
-- catkin 0.6.18 
[rosbuild] using multiarch 'i386-linux-gnu' for finding Boost 
-- Using these message generators: gencpp;genlisp;genpy 
[rosbuild] Including /opt/ros/indigo/share/roslisp/rosbuild/roslisp.cmake 
[rosbuild] Including /opt/ros/indigo/share/roscpp/rosbuild/roscpp.cmake 
[rosbuild] Including /opt/ros/indigo/share/rospy/rosbuild/rospy.cmake 
Build type: Release 
-- Performing Test COMPILER_SUPPORTS_CXX11 
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success 
-- Performing Test COMPILER_SUPPORTS_CXX0X 
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success 
-- Using flag -std=c++11. 
-- Found Eigen3: /usr/include/eigen3 (Required is at least version "3.1.0") 
-- Configuring done 
-- Generating done 
-- Build files have been written to: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ make -j 
Scanning dependencies of target rospack_genmsg_libexe 
[  0%] Built target rospack_genmsg_libexe 
Scanning dependencies of target rosbuild_precompile 
[  0%] Built target rosbuild_precompile 
Scanning dependencies of target Stereo 
Scanning dependencies of target RGBD 
Scanning dependencies of target Mono 
[ 33%] Building CXX object CMakeFiles/Mono.dir/src/ros_mono.cc.o 
[ 66%] [100%] Building CXX object CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o 
Building CXX object CMakeFiles/Stereo.dir/src/ros_stereo.cc.o 
Linking CXX executable ../Mono 
[100%] Built target Mono 
Linking CXX executable ../RGBD 
[100%] Built target RGBD 
Linking CXX executable ../Stereo 
[100%] Built target Stereo 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ ls 
catkin  catkin_generated  CATKIN_IGNORE  CMakeCache.txt  CMakeFiles  cmake_install.cmake  devel  gtest  Makefile  test_results 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cd test_results/ 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results$ ls 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results$ cd .. 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ ls 
catkin  catkin_generated  CATKIN_IGNORE  CMakeCache.txt  CMakeFiles  cmake_install.cmake  devel  gtest  Makefile  test_results 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cd .. 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls 
build  CMakeLists.txt  lib  manifest.xml  Mono  RGBD  src  Stereo 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 
Mono    RGBD    Stereo  
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 Mono 


Usage: rosrun ORB_SLAM2 Mono path_to_vocabulary path_to_settings 
moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 Mono /home/moon/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/moon/ORB_SLAM2/Examples/Monocular/TUM1.yaml 


ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza. 
This program comes with ABSOLUTELY NO WARRANTY; 
This is free software, and you are welcome to redistribute it 
under certain conditions. See LICENSE.txt. 


Input sensor was set to: Monocular 


Loading ORB Vocabulary. This could take a while... 
Vocabulary loaded! 




Camera Parameters: 
- fx: 517.306 
- fy: 516.469 
- cx: 318.643 
- cy: 255.314 
- k1: 0.262383 
- k2: -0.953104 
- k3: 1.16331 
- p1: -0.005358 
- p2: 0.002628 
- fps: 30 
- color order: RGB (ignored if grayscale) 
 
ORB Extractor Parameters: 
- Number of Features: 1000 
- Scale Levels: 8 
- Scale Factor: 1.2 
- Initial Fast Threshold: 20 
- Minimum Fast Threshold: 7 
New Map created with 129 points 
Local Mapping STOP 
Local Mapping RELEASE 
Local Mapping STOP 
Local Mapping RELEASE 
Local Mapping STOP 
:qw 
w 
cd .. 
cd[ WARN] [1479909888.941469911]: Shutdown request received. 
[ WARN] [1479909888.941526443]: Reason given for shutdown: [new node registered with same name] 


Saving keyframe trajectory to KeyFrameTrajectory.txt ... 


trajectory saved!