70 lines
2.6 KiB
Markdown
70 lines
2.6 KiB
Markdown
# ORB-SLAM3环境配置
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> [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)
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>
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> [GitHub - electech6/ORB_SLAM3_detailed_comments: Detailed comments for ORB-SLAM3](https://github.com/electech6/ORB_SLAM3_detailed_comments/blob/master/euroc_examples.sh)
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## 一、Linux环境下常见问题解决方案
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### 1.1 error: ‘slots_reference’ was not declared in this scope
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**解决方法：**
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[https://blog.csdn.net/BigHandsome2020/article/details/123458612](https://blog.csdn.net/BigHandsome2020/article/details/123458612)
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**不是pangolin的问题！！！**
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**sed -i 's/++11/++14/g' CMakeLists.txt**
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**问题2: realsense2**
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**解决方法：**
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[https://blog.csdn.net/weixin_43901418/article/details/121475001](https://blog.csdn.net/weixin_43901418/article/details/121475001)
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```shell
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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
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sudo add-apt-repository "deb [https://librealsense.intel.com/Debian/apt-repo](https://librealsense.intel.com/Debian/apt-repo) $(lsb_release -cs) main" -u
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sudo apt-get install librealsense2-dkms
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sudo apt-get install librealsense2-utils
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sudo apt-get install librealsense2-dev
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```
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**问题3：在运行build.sh 时最后一步make -j4 构建panglin失败**
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```shell
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cd Pangolin
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mkdir build
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cd build
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cmake ..
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cmake --build .
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```
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[https://github.com/raulmur/ORB_SLAM2/issues/22](https://github.com/raulmur/ORB_SLAM2/issues/22)
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需要重新安装panglin，版本如果比较新，则需要切换到C++14
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### 1.4 没有可视化界面只有轨迹结果
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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**。
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```shell
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./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml
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```
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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：
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```c++
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// 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
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ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, false);
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// 如果需要显示摄像头的内容，设置为true即可
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ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::MONOCULAR, true);
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```
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### 1.5 c++: fatal error: Killed signal terminated program cc1plus
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内存爆了，用 make -j 不要给太多任务
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