TX2入门教程软件篇-安装ORB_SLAM v2
TX2入门教程软件篇-安装ORB_SLAM v2
说明:
- 介绍如何在TX2上安装ORB_SLAM v2
依赖安装:
- 基本依赖:
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libpython2.7-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
- 安装Pangolin:
cd ~
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j4
安装Opencv:
- 默认安装是kinetic opencv 3.2.0-dev版本不需要安装,执行
opencv_version
查看确认。 - 如果要重新源码编译opencv,参考:TX2入门教程软件篇-安装opencv
- 默认安装是kinetic opencv 3.2.0-dev版本不需要安装,执行
安装Eigen3:
sudo apt-get install libeigen3-dev
- DBoW2和g2o依赖和ORB一起安装:
- 下载ORB_SLAM2源码:
cd ~
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
- 安装ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
- 安装ORB_SLAM2的ROS包
- 添加路径到.bashrc文件
vim ~/.bashrc
- 增加如下内容到最后:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/ubuntu/ORB_SLAM2/Examples/ROS
- 重载环境变量
source ~/.bashrc
- 编译ROS包
cd ~/ORB_SLAM2/
./build_ros.sh
测试kinect v1:
- 新建文件:
cd ~/ORB_SLAM2/
vim kinect_v1_orbslamv2.launch
- 内容如下:
<launch>
<param name="orb_use_viewer" value="false"/>
<node pkg="ORB_SLAM2" type="RGBD" name="ORB_SLAM2"
args="/home/ubuntu/ORB_SLAM2/Vocabulary/ORBvoc.txt
/home/ubuntu/ORB_SLAM2/Examples/RGB-D/TUM1.yaml" cwd="node" output="screen"/>
<include file="$(find freenect_launch)/launch/freenect.launch">
<!-- use device registration -->
<arg name="depth_registration" value="true" />
<arg name="rgb_processing" value="true" />
<arg name="ir_processing" value="false" />
<arg name="depth_processing" value="false" />
<arg name="depth_registered_processing" value="true" />
<arg name="disparity_processing" value="false" />
<arg name="disparity_registered_processing" value="false" />
<arg name="sw_registered_processing" value="false" />
<arg name="hw_registered_processing" value="true" />
</include>
</launch>
ORB_SLAM2/Vocabulary/ORBvoc.txt
修改为自己的路径ORB_SLAM2/Examples/RGB-D/TUM1.yaml
修改为自己的路径效果图:
其他测试:
- 参考官方说明https://github.com/raulmur/ORB_SLAM2
参考:
- https://github.com/raulmur/ORB_SLAM2
- https://github.com/hoangthien94/ORB_SLAM2_CUDA
- http://blog.csdn.net/qq_14925953/article/details/73971461
- https://devtalk.nvidia.com/default/topic/1001801/orb_slam2-cuda-enhanced-running-on-a-tx2/
- http://eigen.tuxfamily.org/index.php?title=Main_Page
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