forked from logzhan/ORB-SLAM3-UESTC
70 lines
2.6 KiB
Markdown
70 lines
2.6 KiB
Markdown
|
# ORB-SLAM3环境配置
|
|||
|
|
|
|||
|
|
> [ORB-SLAM3配置安装及运行---Ubuntu20.04（2021年）_1900_的博客-CSDN博客](https://blog.csdn.net/holly_Z_P_F/article/details/118031317)
|
|||
|
|
>
|
|||
|
|
> [GitHub - electech6/ORB_SLAM3_detailed_comments: Detailed comments for ORB-SLAM3](https://github.com/electech6/ORB_SLAM3_detailed_comments/blob/master/euroc_examples.sh)
|
|||
|
|
|
|||
|
|
## 一、Linux环境下常见问题解决方案
|
|||
|
|
|
|||
|
|
### 1.1 error: ‘slots_reference’ was not declared in this scope
|
|||
|
|
|
|||
|
|
**解决方法：**
|
|||
|
|
|
|||
|
|
[https://blog.csdn.net/BigHandsome2020/article/details/123458612](https://blog.csdn.net/BigHandsome2020/article/details/123458612)
|
|||
|
|
|
|||
|
|
**不是pangolin的问题！！！**
|
|||
|
|
|
|||
|
|
**sed -i 's/++11/++14/g' CMakeLists.txt**
|
|||
|
|
|
|||
|
|
**问题2: realsense2**
|
|||
|
|
|
|||
|
|
|
|||
|
|
|
|||
|
|
**解决方法：**
|
|||
|
|
|
|||
|
|
[https://blog.csdn.net/weixin_43901418/article/details/121475001](https://blog.csdn.net/weixin_43901418/article/details/121475001)
|
|||
|
|
|
|||
|
|
```shell
|
|||
|
|
sudo apt-key adv --keyserver [keyserver.ubuntu.com](http://keyserver.ubuntu.com/) --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE
|
|||
|
|
sudo add-apt-repository "deb [https://librealsense.intel.com/Debian/apt-repo](https://librealsense.intel.com/Debian/apt-repo) $(lsb_release -cs) main" -u
|
|||
|
|
sudo apt-get install librealsense2-dkms
|
|||
|
|
sudo apt-get install librealsense2-utils
|
|||
|
|
sudo apt-get install librealsense2-dev
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
**问题3：在运行build.sh 时最后一步make -j4 构建panglin失败**
|
|||
|
|
|
|||
|
|
```shell
|
|||
|
|
cd Pangolin
|
|||
|
|
mkdir build
|
|||
|
|
cd build
|
|||
|
|
cmake ..
|
|||
|
|
cmake --build .
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
[https://github.com/raulmur/ORB_SLAM2/issues/22](https://github.com/raulmur/ORB_SLAM2/issues/22)
|
|||
|
|
|
|||
|
|
需要重新安装panglin，版本如果比较新，则需要切换到C++14
|
|||
|
|
|
|||
|
|
### 1.4 没有可视化界面只有轨迹结果
|
|||
|
|
|
|||
|
|
Monocular程序运行Euroc数据集或者其他官方数据集的时候，运行结果**只有轨迹结果，但没有可视化界面**。
|
|||
|
|
|
|||
|
|
```shell
|
|||
|
|
./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
这是因为原始灰度图像的输出是需要通过代码设置开启的，mono_euroc.cc修改：
|
|||
|
|
|
|||
|
|
```c++
|
|||
|
|
// 这里的第三个参数为bool类型，用于控制是否显示摄像头的灰度图像
|
|||
|
|
ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, false);
|
|||
|
|
// 如果需要显示摄像头的内容，设置为true即可
|
|||
|
|
ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, true);
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
### 1.5 c++: fatal error: Killed signal terminated program cc1plus
|
|||
|
|
|
|||
|
|
内存爆了，用 make -j 不要给太多任务
|
|||
|
|
|