ORB SLAM3 在ubuntu22.04详细部署
1、安装所有依赖
打开终端，输入以下内容
sudo apt update
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev libjasper-dev
sudo apt-get install libglew-dev libboost-all-dev libssl-dev
sudo apt install libeigen3-dev
2、安装OpenCV 4.6.0
还是终端输入以下内容，注意cd后修改为你想要存放的目录路径
cd [你想要存放的目录]
mkdir Dev && cd Dev
git clone https://github.com/opencv/opencv.git
cd opencv
git checkout 4.6.0
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D WITH_CUDA=OFF -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j 1
sudo make install
3、安装Pangolin
cd [你想要存放的目录]/Dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake .. -D CMAKE_BUILD_TYPE=Release
make -j 1
sudo make install
4、安装ORB SLAM3
cd [你想要存放的目录]/Dev
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git
cd ORB_SLAM3
sed -i 's/++11/++14/g' CMakeLists.txt
接着再输入ORB SLAM3自带的构建指令./build.sh构建就完成安装啦～
5、EuRoc测试数据集下载及使用
下载数据集
cd [数据集存放的目录]
mkdir -p Datasets/EuRoc
cd Datasets/EuRoc/
wget -c http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip
mkdir MH01
unzip MH_01_easy.zip -d MH01/
测试数据集
# 先切换到ORB SLAM3的根目录
cd [ORB SLAM3根目录]
# 选择以下一项来测试
# 单目
./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml [数据集存放的目录]/Datasets/EuRoc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono
# 单目+IMU
./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml [数据集存放的目录]/Datasets/EuRoc/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi
# 双目
./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml [数据集存放的目录]/Datasets/EuRoc/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
# 双目+IMU
./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml [数据集存放的目录]/Datasets/EuRoc/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi
Over～