编译 ORB_SLAM2 （一）

来源：互联网发布：win10网络连接不上编辑：程序博客网时间：2024/05/17 23:13

之前有记录关于ORB_SLAM的第一个版本的编译，每次就是要编译程序，都会遇到很多问题，并不是所谓的按照教程来就一定能编译成功，所以这一次编译也遇到了很多问题。百度的时候也看到网上有很多相似的问题，但是也有很多还没有解决的问题，恰好的我也遇到了，并且解决了。

首先默认电脑环境ubuntu14.04和ROS indigo已经装好。

1. 安装Pangolin，用于可视化和用户接口

git clone https://github.com/stevenlovegrove/Pangolin.git

cd Pangolin

　　　 mkdir build

　　　 cd build

cmake -DCPP11_NO_BOOST=1 ..

　　　 make -j

如果出现Could NOT find GLEW错误，就是要安装一些依赖项

就是sudo apt-get install 以下这些依赖项

libx11-dev libxmu-dev libglu1-mesa-dev libgl2ps-dev libxi-dev g++ libzip-dev libpng12-dev libcurl4-gnutls-dev libfontconfig1-dev libsqlite3-dev libglew*-dev libssl-dev

2.安装BLAS和LAPACK

sudo apt-get install libblas-devsudo apt-get install liblapack-dev

3 构建ORB_SLAM2库

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2cd ORB_SLAM2chmod +x build.sh./build.sh

问题（1）

可能会出现在./build.sh 这一步，如果出现的错误大部分是跟openni.h和XnCppWrapper.h有关的话，请看这位大神的博客是可以解决问题的

www.cnblogs.com/liufuqiang/p/5618335.html

问题（2）

如果在编译ORB_SLAM2时出现卡住的情况，无论怎么重新编译都会无法通过，网上也查不到关于卡住怎么办的解决办法

http://tieba.baidu.com/p/4475718587就像这个贴吧里说的这样，只能ctrl+c，如如下图

如果编译的过程中卡住了解决办法：把make -j 改为make -l,看一下make的用法：

Usage: make [options] [target] ...
Options:
-b, -m                      Ignored for compatibility.
-B, --always-make           Unconditionally make all targets.
-C DIRECTORY, --directory=DIRECTORY
                              Change to DIRECTORY before doing anything.
-d                          Print lots of debugging information.
--debug[=FLAGS]             Print various types of debugging information.
-e, --environment-overrides
                              Environment variables override makefiles.
-f FILE, --file=FILE, --makefile=FILE
                              Read FILE as a makefile.
-h, --help                  Print this message and exit.
-i, --ignore-errors         Ignore errors from commands.
-I DIRECTORY, --include-dir=DIRECTORY
                              Search DIRECTORY for included makefiles.
-j [N], --jobs[=N]          Allow N jobs at once; infinite jobs with no arg.
-k, --keep-going            Keep going when some targets can't be made.
-l [N], --load-average[=N], --max-load[=N]
                              Don't start multiple jobs unless load is below N.
-L, --check-symlink-times   Use the latest mtime between symlinks and target.
-n, --just-print, --dry-run, --recon
                              Don't actually run any commands; just print them.
-o FILE, --old-file=FILE, --assume-old=FILE
                              Consider FILE to be very old and don't remake it.
-p, --print-data-base       Print make's internal database.
-q, --question              Run no commands; exit status says if up to date.
-r, --no-builtin-rules      Disable the built-in implicit rules.
-R, --no-builtin-variables Disable the built-in variable settings.
-s, --silent, --quiet       Don't echo commands.
-S, --no-keep-going, --stop
                              Turns off -k.
-t, --touch                 Touch targets instead of remaking them.
-v, --version               Print the version number of make and exit.
-w, --print-directory       Print the current directory.
--no-print-directory        Turn off -w, even if it was turned on implicitly.
-W FILE, --what-if=FILE, --new-file=FILE, --assume-new=FILE
                              Consider FILE to be infinitely new.
--warn-undefined-variables Warn when an undefined variable is referenced.
这样就编译成功，如图：

4.编译生成ROS节点：根据read.md

在 ~/.bashrc添加路径

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

然后进入“Examples/ROS/ORB_SLAM2：执行

mkdir build
　　　　　　　　　　　　　　　　　　　　 cd build
　　　　　　　　　　　　　　　　　　　　 cmake .. -DROS_BUILD_TYPE=Release
　　　　　　　　　　　　　　　　　　　　 make -j

可能出现的错误就是在 cmake .. -DROS_BUILD_TYPE=Release 如下图

意思是cv_bridge找不到opencv 的依赖项，即使把package.xml文件中的cv_bridge去除，虽然可以cmake成功，但是依赖项没有了。后面的make 也不能成功，

所以就把CMakefile.txt文件中

cmake_minimum_required(VERSION 2.4.6)include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)rosbuild_init()IF(NOT ROS_BUILD_TYPE)  SET(ROS_BUILD_TYPE Release)ENDIF()MESSAGE("Build type: " ${ROS_BUILD_TYPE})set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")# Check C++11 or C++0x supportinclude(CheckCXXCompilerFlag)CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)if(COMPILER_SUPPORTS_CXX11)   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")   add_definitions(-DCOMPILEDWITHC11)   message(STATUS "Using flag -std=c++11.")elseif(COMPILER_SUPPORTS_CXX0X)   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")   add_definitions(-DCOMPILEDWITHC0X)   message(STATUS "Using flag -std=c++0x.")else()   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")endif()LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)find_package(OpenCV 2.4.3 REQUIRED)find_package(Eigen3 3.1.0 REQUIRED)find_package(Pangolin REQUIRED)include_directories(${PROJECT_SOURCE_DIR}${PROJECT_SOURCE_DIR}/../../../${PROJECT_SOURCE_DIR}/../../../include${Pangolin_INCLUDE_DIRS})set(LIBS ${OpenCV_LIBS} ${EIGEN3_LIBS}${Pangolin_LIBRARIES}${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so)# Node for monocular camerarosbuild_add_executable(Monosrc/ros_mono.cc)target_link_libraries(Mono${LIBS})# Node for stereo camerarosbuild_add_executable(Stereosrc/ros_stereo.cc)target_link_libraries(Stereo${LIBS})# Node for RGB-D camerarosbuild_add_executable(RGBDsrc/ros_rgbd.cc)target_link_libraries(RGBD${LIBS})

View Code

改写为

cmake_minimum_required(VERSION 2.8.3)  #版本不同project(orb_slam2)find_package(catkin REQUIRED COMPONENTSroscppsensor_msgsimage_transportmessage_filterscv_bridgecmake_modules)set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")# Check C++11 or C++0x supportinclude(CheckCXXCompilerFlag)CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)if(COMPILER_SUPPORTS_CXX11)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")add_definitions(-DCOMPILEDWITHC11)message(STATUS "Using flag -std=c++11.")elseif(COMPILER_SUPPORTS_CXX0X)set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")add_definitions(-DCOMPILEDWITHC0X)message(STATUS "Using flag -std=c++0x.")else()message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")endif()LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)find_package(OpenCV 2.4.3 REQUIRED)find_package(Eigen3 3.1.0 REQUIRED)find_package(Pangolin REQUIRED)catkin_package()include_directories(${PROJECT_SOURCE_DIR}${PROJECT_SOURCE_DIR}/../../../${PROJECT_SOURCE_DIR}/../../../include${Pangolin_INCLUDE_DIRS})set(LIBS${catkin_LIBRARIES}${OpenCV_LIBS}${EIGEN3_LIBS}${Pangolin_LIBRARIES}${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so)# Node for monocular cameraadd_executable(monosrc/ros_mono.cc)target_link_libraries(mono${LIBS})# Node for RGB-D cameraadd_executable(rgbdsrc/ros_rgbd.cc)target_link_libraries(rgbd${LIBS})# Node for stereo cameraadd_executable(stereosrc/ros_stereo.cc)target_link_libraries(stereo${LIBS})

把manifest.xml文件内容

<package>  <description brief="ORB_SLAM2">     ORB_SLAM2  </description>  <author>Raul Mur-Artal</author>  <license>GPLv3</license>  <depend package="roscpp"/>  <depend package="tf"/>  <depend package="sensor_msgs"/>  <depend package="image_transport"/>  <depend package="cv_bridge"/></package>

删除改为package.xml 内容为

<package><name>orb_slam2</name><version>0.0.1</version><description>ORB_SLAM2</description><author>Raul Mur-Artal</author><maintainer email="raulmur@unizar.es">Raul Mur-Artal</maintainer><license>GPLv3</license><buildtool_depend>catkin</buildtool_depend><build_depend>roscpp</build_depend><build_depend>tf</build_depend><build_depend>sensor_msgs</build_depend><build_depend>image_transport</build_depend><build_depend>message_filters</build_depend><build_depend>cv_bridge</build_depend><build_depend>cmake_modules</build_depend><run_depend>roscpp</run_depend><run_depend>tf</run_depend><run_depend>sensor_msgs</run_depend><run_depend>image_transport</run_depend><run_depend>message_filters</run_depend><run_depend>cv_bridge</run_depend></package>

就可以编译成功，如果出现卡住，仍然换成make -l

我只是记录下一些问题，大神请忽略

如果您觉得看完有所收获，欢迎扫一扫，可以资助一分，几分money,不在乎多少（我也是跟网上的大神们学的），

0 0