{"id":42,"date":"2025-03-07T18:49:40","date_gmt":"2025-03-07T10:49:40","guid":{"rendered":"https:\/\/mcfrys.cn\/?p=42"},"modified":"2025-03-07T20:34:05","modified_gmt":"2025-03-07T12:34:05","slug":"%e5%9f%ba%e4%ba%8eubuntu20-04-%e6%9e%84%e5%bb%baorb-slam2%e5%ae%9e%e6%97%b6%e7%a8%a0%e5%af%86%e5%bb%ba%e5%9b%be","status":"publish","type":"post","link":"https:\/\/web.mcfrys.cn\/index.php\/2025\/03\/07\/%e5%9f%ba%e4%ba%8eubuntu20-04-%e6%9e%84%e5%bb%baorb-slam2%e5%ae%9e%e6%97%b6%e7%a8%a0%e5%af%86%e5%bb%ba%e5%9b%be\/","title":{"rendered":"\u57fa\u4e8eUbuntu20.04 \u6784\u5efaORB-Slam2(\u5b9e\u65f6\u7a20\u5bc6\u5efa\u56fe)"},"content":{"rendered":"\n

\u7531\u4e8e\u9879\u76ee\u9700\u8981\u624b\u52a8\u5b89\u88c5\u5e73\u677f\u7cfb\u7edf\u8fdb\u884c\u8f6f\u4ef6\u5e03\u7f6e\uff0c\u5c06\u6784\u5efa\u65b9\u6cd5\u5199\u5165\u5982\u4e0b:<\/p>\n\n\n\n

1.ROS\u7cfb\u7edf\u90e8\u7f72<\/strong><\/p>\n\n\n\n

\u529b\u63a8\u9c7c\u9999\u8089\u4e1d\uff0c\u907f\u514d\u94fe\u63a5\u8d85\u65f6\u7b49\u4e00\u7cfb\u5217\u95ee\u9898<\/p>\n\n\n\n

wget http:\/\/fishros.com\/install -O fishros && . fishros<\/p>\n\n\n\n

\"\"<\/div><\/figure>\n\n\n\n

\u7b2c\u4e00\u6b65\u8f93\u51651\uff0c\u4e00\u952e\u5b89\u88c5ROS\u7248\u672c\uff0cubuntu20.04\u5bf9\u5e94\u7684ROS\u7248\u672c\u4e3a noetic<\/p>\n\n\n\n

\u7b2c\u4e8c\u6b65\u5b89\u88c5\u5b8cROS\u540e\u4e00\u5b9a\u8981 \u5b89\u88c5rosdep(\u4e3aROS\u5b89\u88c5\u8fd0\u884c\u4f9d\u8d56\u7684\u5de5\u5177)<\/p>\n\n\n\n

2.ORBSLAM2\u7684\u9644\u5c5e\u5305\u7f16\u8bd1<\/strong><\/p>\n\n\n\n

pangolin0.5 \u4e0b\u8f7d\u94fe\u63a5<\/a><\/p>\n\n\n\n

pangolin\u8fd0\u884c\u9700\u8981\u7684\u524d\u7f6e\u4f9d\u8d56 libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev ,\u4f46\u662f\u4e00\u822cROS\u73af\u5883\u662f\u81ea\u5e26\u4e86\u7684 <\/p>\n\n\n\n

\u524d\u7f6e\u5b89\u88c5\u5feb\u6377\u6307\u4ee4\nsudo apt-get install libglew-dev\nsudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev<\/code><\/pre>\n\n\n\n
\u7f16\u8bd1\u547d\u4ee4\ncd Pangolin\nmkdir build\ncd build\ncmake ..\nmake\nsudo make install<\/code><\/pre>\n\n\n\n
opencv3.4.5 \u4e0b\u8f7d\u94fe\u63a5<\/a> (\u56e0\u4e3aubuntu20.04\u7684ROS\u81ea\u5e26opencv4,\u4f46\u662f\u7a20\u5bc6\u5efa\u56fe\u7248\u672c\u7684ORBSLAM2\u7f16\u8bd1\u73af\u5883\u4f9d\u8d56opencv3.x,github\u6709\u79fb\u690d\u5230opencv4\u7684ORBSLAM2 \u4f20\u9001\u95e8<\/a> <\/p>\n\n\n\n
opencv3.4.5\u7684\u4f9d\u8d56,\u4e0b\u9762\u6709\u5feb\u6377\u5b89\u88c5\u547d\u4ee4<\/strong><\/p>\n\n\n\n
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev\n\u6ce8\uff1a\u53ef\u80fd\u9047\u5230\u62a5\u9519\n\u65e0\u6cd5\u5b9a\u4f4d\u8f6f\u4ef6\u5305 libjasper-dev\n\u89e3\u51b3\u65b9\u6848:\nsudo add-apt-repository \"deb http:\/\/security.ubuntu.com\/ubuntu xenial-security main\"\nsudo apt update\nsudo apt install libjasper1 libjasper-dev<\/code><\/pre>\n\n\n\n
\u7f16\u8bd1\u5b89\u88c5\u6307\u4ee4<\/strong><\/p>\n\n\n\n
cd opencv3.4.5\nmkdir build\ncd build\ncmake -D CMAKE_INSTALL_PREFIX=\/usr\/local\/opencv3.4.5 -D CMAKE_BUILD_TYPE=\"Rlease\" -D OPENCV_GENERATE_PKGCONFIG=ON ..\nmake\nsudo make install\n\u7f16\u8bd1\u5b8c\u6210\u540e\u9700\u8981\u8ba9ORBSLAM2\u7f16\u8bd1\u7684\u65f6\u5019\u627e\u5bf9\u6b63\u786e\u7684opencv\u7248\u672c\uff0c\u56e0\u4e3a\u73b0\u5728\u7cfb\u7edf\u5b58\u5728opencv3\u548c4\u4e24\u4e2a\u7248\u672c\n# \u7b2c\u4e00\u6b65\nsudo gedit \/etc\/ld.so.conf.d\/opencv.conf\n\u8f93\u5165\uff1a\n\/usr\/local\/opencv3.4.5\/lib\n# \u7b2c\u4e8c\u6b65\nsudo ldconfig \nsudo gedit ~\/.bashrc \n\u5728\u672b\u5c3e\u8f93\u5165\uff1a\nexport PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:\/usr\/local\/opencv3.4.5\/lib\/pkgconfig\nexport LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:\/usr\/local\/opencv3.4.5\/lib\n# \u7b2c\u4e09\u6b65\nsource ~\/.bashrc\npkg-config --modversion opencv\n\u51fa\u73b03.4.5\u5373\u53ef\npkg-config --modversion opencv4\n\u51fa\u73b04.2.0\u662fros\u4e2d\u7684\u7248\u672c\n\u6ce8\u610f\uff1a\uff01\uff01\uff01\u5728find(OpenCV REQUIRED)\u524d\u8f93\u5165\uff1aset(CMAKE_PREFIX_PATH \u201c\/usr\/local\/opencv3.4.5\u201d)\u6307\u5b9aopencv3\u7684\u73af\u5883\u8def\u5f84\uff0c\u5426\u5219\u4f1a\u627e\u4e0d\u5230<\/code><\/pre>\n\n\n\n
3.ORBSLAM2_with_pointcloud_map\u7f16\u8bd1\u6267\u884c,\u53ca\u5176\u4f9d\u8d56\u5305\u7f16\u8bd1<\/strong><\/p>\n\n\n\n
ORBSLAM2_with_pointcloud_map \u4e0b\u8f7d\u94fe\u63a5<\/a><\/p>\n\n\n\n
\u4f9d\u8d56\u5305g2o\u7684\u7f16\u8bd1<\/strong><\/p>\n\n\n\n
cd g2o_with_orbslam2\nmkdir build\ncmake ..\nmake \nsudo make install<\/code><\/pre>\n\n\n\n
\u4e0b\u9762\u662f\u4e00\u4e2a\u5e38\u89c1\u7684\u7f16\u8bd1\u62a5\u9519:<\/p>\n\n\n\n
\"\"<\/div><\/figure>\n\n\n\n
\u524d\u9762\u6240\u8bf4\u7684\u6015ORBSLAM2\u627e\u4e0d\u5230\u5bf9\u5e94\u7684\u4f9d\u8d56\u73af\u5883<\/p>\n\n\n\n
1.\u5c06\u8fd9\u4e2a-march=native\u5220\u9664\uff0c\u4e0d\u7136\u540e\u7eed\u4f1a\u51fa\u73b0\u6838\u5fc3\u5df2\u8f6c\u50a8\u7684\u62a5\u9519\uff0c\u5176\u5b9e\u4e3b\u8981\u662fg2o\u7684\u7b2c\u4e09\u65b9\u5e93\u91cc\u9762\u7684\u9700\u8981\u5220\u9664\uff0c\n\u4f46\u662f\u907f\u514d\u95ee\u9898\uff0c\u6bcf\u4e00\u4e2aCMakeLists.txt\u6587\u4ef6\u91cc\u7684-march=native\u6211\u90fd\u5220\u9664\u4e86\n2.\u4e3a\u4e86\u907f\u514dpcl\u7684\u7f16\u8bd1\u95ee\u9898\uff0c\u5728\u7b2c\u4e09\u884c\u52a0\nset( CMAKE_CXX_STANDARD 14)\n3.opencv3.4.5\u914d\u7f6e\uff0c\u5728find_package(OpenCV 3.0 REQUIRED)\u4e0a\u4e00\u884c\u6dfb\u52a0\uff0c\u5176\u5b9e\u6bcf\u4e00\u4e2a\u6587\u4ef6\u4e2d\u7528\u5230opencv\u90fd\u5f97\u8fd9\u6837\u8bbe\u7f6e\nset(CMAKE_PREFIX_PATH \"\/usr\/local\/opencv3.4.5\")\n4.Eigen3 \u6539\u4e3a\u5bf9\u5e94\u7684\u7248\u672c\nfind_package(Eigen3 3.3.7 REQUIRED)\n5.pcl\u7684\u7248\u672c\nfind_package( PCL 1.10 REQUIRED )<\/code><\/pre>\n\n\n\n
\u7f16\u8bd1Thirdparty\u5305<\/strong><\/p>\n\n\n\n
\u4e0d\u5efa\u8bae\u76f4\u63a5\u8dd1build.sh\u6587\u4ef6\uff0c\u51fa\u73b0\u95ee\u9898\u4e0d\u597d\u6539
\u6253\u5f00build.sh\u6587\u4ef6\uff0c\u81ea\u5df1\u9010\u4e2a\u7f16\u8bd1\uff0c\u6709\u95ee\u9898\u4e5f\u597d\u627e
DBoW2\u91cc\u7684CMakeLists.txt\u6587\u4ef6\u4e5f\u9700\u8981\u6539
\u8fd9\u4e2a-march=native\u5220\u9664
\u5728find_package(OpenCV 3.0 REQUIRED)\u4e0a\u4e00\u884c\u6dfb\u52a0
set(CMAKE_PREFIX_PATH “\/usr\/local\/opencv3.4.5”)<\/p>\n\n\n\n
\ncd Thirdparty\/DBoW2\nmkdir build\ncd build\ncmake .. -DCMAKE_BUILD_TYPE=Release\nmake<\/code><\/pre>\n\n\n\n
g2o\u91cc\u7684CMakeLists.txt\u6587\u4ef6\u4e5f\u9700\u8981\u6539\n\u8fd9\u4e2a-march=native\u5220\u9664<\/p>\n\n\n\n
cd Thirdparty\/g2o\nmkdir build\ncd build\ncmake .. -DCMAKE_BUILD_TYPE=Release\nmake\n<\/code><\/pre>\n\n\n\n
\u7f16\u8bd1ORBSLAM2\u5305<\/p>\n\n\n\n
cd ORB_SLAM2_modified\/\nmkdir build\ncd build\ncmake .. -DCMAKE_BUILD_TYPE=Release\nmake<\/code><\/pre>\n\n\n\n
\n
ROS\u4e0b\u7f16\u8bd1ORBSLAM2\u5305<\/p>\n\n\n\n
gedit ~\/.bashrc<\/p>\n\n\n\n
\u6dfb\u52a0\u4e00\u4e0b\u547d\u4ee4\uff0c\u5982\u679c\u4ee5\u524d\u914d\u7f6e\u8fc7ORB_SLAM2\u7684ROS\u7684\u8bdd\uff0c\u9700\u8981\u5c06\u4ee5\u524d\u7684\u914d\u7f6e\u6ce8\u91ca\u6389<\/p>\n\n\n\n
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:\/\u4f60\u7684\u76ee\u5f55\/ORB_SLAM2_modified\/Examples\/ROS
\u4fdd\u5b58\uff0c\u5173\u95ed
source ~\/.bashrc
sudo updatedb
rospack profile
echo ${ROS_PACKAGE_PATH}
\u4f1a\u51fa\u73b0\u4f60\u521a\u521a\u52a0\u7684ros\u8def\u5f84<\/p>\n\n\n\n
\u6700\u540e\u5c31\u6210\u529f\u4e86\uff01\u770b\u56fe-><\/p>\n\n\n\n
\"\"<\/div><\/figure>\n<\/div><\/div>\n\n\n\n
\u8fd9\u91cc\u6709\u5e38\u89c1\u7684\u62a5\u9519\u89e3\u51b3\u5408\u96c6: \u4f20\u9001\u95e81<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"
\u7531\u4e8e\u9879\u76ee\u9700\u8981\u624b\u52a8\u5b89\u88c5\u5e73\u677f\u7cfb\u7edf\u8fdb\u884c\u8f6f\u4ef6\u5e03\u7f6e\uff0c\u5c06\u6784\u5efa\u65b9\u6cd5\u5199\u5165\u5982\u4e0b: 1.ROS\u7cfb\u7edf\u90e8\u7f72 \u529b\u63a8\u9c7c\u9999\u8089\u4e1d\uff0c\u907f\u514d\u94fe\u63a5\u8d85\u65f6 […]<\/p>\n","protected":false},"author":1,"featured_media":63,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[4,5,6,7,8],"class_list":["post-42","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-learn","tag-orbslam2","tag-ros","tag-ubuntu","tag-7","tag-8"],"_links":{"self":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/42","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/comments?post=42"}],"version-history":[{"count":31,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/42\/revisions"}],"predecessor-version":[{"id":96,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/posts\/42\/revisions\/96"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/media\/63"}],"wp:attachment":[{"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/media?parent=42"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/categories?post=42"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/web.mcfrys.cn\/index.php\/wp-json\/wp\/v2\/tags?post=42"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}