OpenvSLAM编译与安装

1.安装依赖

sudo apt update -y
sudo apt upgrade -y --no-install-recommends
//basic dependencies
sudo apt install -y build-essential pkg-config cmake git wget curl unzip
//g2o dependencies
sudo apt install -y libatlas-base-dev libsuitesparse-dev
//OpenCV dependencies
sudo apt install -y libgtk-3-dev
sudo apt install -y ffmpeg
sudo apt install -y libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev
//eigen dependencies
sudo apt install -y gfortran
//other dependencies
sudo apt install -y libyaml-cpp-dev libgoogle-glog-dev libgflags-dev

//(if you plan on using PangolinViewer)
//Pangolin dependencies
sudo apt install -y libglew-dev
//(if you plan on using SocketViewer)
//Protobuf dependencies
sudo apt install -y autogen autoconf libtool

//Node.js
curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -
sudo apt install -y nodejs

还有另一篇ubuntu18安装opencv的依赖

2.安装Eigen

cd /path/to/working/dir
wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.bz2
tar xf eigen-3.3.7.tar.bz2
rm -rf eigen-3.3.7.tar.bz2
cd eigen-3.3.7
mkdir -p build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j8
sudo make install

3.安装Opencv(参考另一篇安装opencv3.4.9)

cd /path/to/working/dir
wget -q https://github.com/opencv/opencv/archive/3.4.0.zip
unzip -q 3.4.0.zip
rm -rf 3.4.0.zip
cd opencv-3.4.0
mkdir -p build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DENABLE_CXX11=ON \
    -DBUILD_DOCS=OFF \
    -DBUILD_EXAMPLES=OFF \
    -DBUILD_JASPER=OFF \
    -DBUILD_OPENEXR=OFF \
    -DBUILD_PERF_TESTS=OFF \
    -DBUILD_TESTS=OFF \
    -DWITH_EIGEN=ON \
    -DWITH_FFMPEG=ON \
    -DWITH_OPENMP=ON \
    ..
make -j8
sudo make install

4.安装自定义DBoW2

cd /path/to/working/dir
git clone https://github.com/shinsumicco/DBoW2.git
cd DBoW2
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j8
sudo make install

5.安装g2o

cd /path/to/working/dir
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
//git checkout 9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a (没执行)
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DCMAKE_CXX_FLAGS=-std=c++11 \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_UNITTESTS=OFF \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DG2O_USE_CHOLMOD=OFF \
    -DG2O_USE_CSPARSE=ON \
    -DG2O_USE_OPENGL=OFF \
    -DG2O_USE_OPENMP=ON \
    ..
make -j8
sudo make install

6.安装PangolinViewer

下载源代码构建和安装

cd /path/to/working/dir
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
//git checkout ad8b5f83222291c51b4800d5a5873b0e90a0cf81
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j8
sudo make install

7.编译openvSLAM

在支持PangolinViewer的情况下进行构建时，请指定以下cmake选项：-DUSE_PANGOLIN_VIEWER=ON和-DUSE_SOCKET_PUBLISHER=OFF。

源码下载地址：https://github.com/xdspacelab/openvslam

cd /path/to/openvslam
mkdir build && cd build
cmake \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DUSE_PANGOLIN_VIEWER=ON \
    -DUSE_SOCKET_PUBLISHER=OFF \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=ON \
    ..
make -j8

注意：如果cmake找不到任何依赖项，请直接设置环境变量。例如，何时CMAKE_INSTALL_PREFIX为/usr/local：

• Eigen3_DIR=/usr/local/share/eigen3/cmake
• OpenCV_DIR=/usr/local/share/OpenCV
• DBoW2_DIR=/usr/local/lib/cmake/DBoW2
• g2o_DIR=/usr/local/lib/cmake/g2o
• Pangolin_DIR=/usr/local/lib/cmake/Pangolin （已安装）
• sioclient_DIR=/usr/local/lib/cmake/sioclient （已安装）

8.检查是否编译成功

 ./run_kitti_slam -h

输出如下内容：

测试运行
一. 首先下载orb_vocab.zip，解压得到字典文件orb_vocab.dbow2。
二. 下载EuRoC数据集，解压得到mav0文件夹。
三. 进入到openvslam主项目的build文件夹下，执行命令：

 ./run_image_slam \
	    -v /home/jhf/Projects/OpenVSALM/orb_vocab/orb_vocab.dbow2 \
	    -c /home/jhf/Projects/datasets/npu/npu_config.yaml \
	    -i /home/jhf/Projects/datasets/npu/img \
        -p npu.msg  \
	    --eval-log 

到此openvSLAM就安装成功了！

openvslam 报错1：X11 Error: BadValue (integer parameter out of range for operation)

openvslam 报错：X11 Error: BadValue (integer parameter out of range for operation)

X11 Error: BadValue (integer parameter out of range for operation) 
X11 Error: BadValue (integer parameter out of range for operation) 
terminate called after throwing an instance of 'std::runtime_error' what():  Pangolin X11: Failed to create an OpenGL context Aborted (core dumped)

解决办法：
请执行如下命令进行驱动升级并且重启（注意保存）：

sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-get update
sudo ubuntu-drivers autoinstall
sudo reboot

openvslam报错2：

运行run_image_slam初始化成功后就报错：

原因是编译g2o 的on/off 与编译 openvslam时的不匹配，按照上述重新编译g2o和openvslam即可解决。