ubuntu18安装ORB

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ubuntu18安装ORB

系统要求

ubuntu18.04, 系统自带opencv3.2.0未改变，若需要改变opencv版本可以参考另一篇文章从零开始的ORB_SLAM3运行(正在更新)

快速安装过程

ORB_SLAM3源码地址
前置需求Pangolin，OpenCV，Eigen3，DBoW2 and g2o (Included in Thirdparty folder)，Python，ROS (optional)
下面依次安装Pangolin, Eigen3, ros_melodic

Pangolin下载与安装

在 ORB_SLAM3 github 网站中，作者对Pangolin的安装有以下说明：

We use Pangolin for visualization and user interface. Dowload and install instructions can be found at: .

具体安装步骤为

git clone .git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .

Eigen3下载与安装

在 ORB_SLAM3 github 网站中，作者对Eigen3的安装有以下说明：

Required by g2o (see below). Download and install instructions can be found at: . Required at least 3.1.0.

按照网站右侧提示下载，下载后解压，找到INSTALL文件并根据提示进行安装。
Eigen 3.3.9的下载地址为.3.9/eigen-3.3.9.tar.gz
官方安装教程为

Let’s call this directory ‘source_dir’ (where this INSTALL file is).
Before starting, create another directory which we will call ‘build_dir’.
Do:
cd build_dir
cmake source_dir
make install

简化版本为：

tar -zxvf eien-3.3.9.tar.gz
cd eigen-3.3.9
mkdir build
cmake ..
sudo make install

ros_melodic的安装(optional)

roswiki中有详细的安装步骤
其中有几点需要注意：

1. 在更换软件源的时候可以选择中国的源，详情可见
2. 在添加环境的环节，注意当前使用的是bash还是zsh，从而选择在.bashrc还是.zshrc中添加source
3. 在执行sudo rosdep init时，可能需要科学上网
4. 最重要的一点，ROS的安装教程要选择英文版而不是中文版的，中文版的安装教程并没有英文版的全面，在sudo rosdep init之前要先执行sudo apt install python-rosdep才不会报错

ORB_SLAM3的下载与编译

在安装完前置要求之后，开始ORB_SLAM3的编译。从。

git clone .git

在编译之前需要修改两个文件，具体参考.html
修改步骤如下

1. 将文件~/ORB_SLAM3.0/src/CameraModels/KannalaBrandt8.cpp中第534行void KannalaBrandt8::Triangulate_()函数中出错的这句话注释掉:

    x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3)

2. 将文件~/ORB_SLAM3.0/src/LocalMapping中第393行到749行的void LocalMapping::CreateNewMapPoints()函数修改为：
   (其实就是ORBSLAM3上一版的函数直接copy过来)

void LocalMapping::CreateNewMapPoints()
{// Retrieve neighbor keyframes in covisibility graphint nn = 10;// For stereo inertial caseif(mbMonocular)nn=20;vector<KeyFrame*> vpNeighKFs = mpCurrentKeyFrame->GetBestCovisibilityKeyFrames(nn);if (mbInertial){KeyFrame* pKF = mpCurrentKeyFrame;int count=0;while((vpNeighKFs.size()<=nn)&&(pKF->mPrevKF)&&(count++<nn)){vector<KeyFrame*>::iterator it = std::find(vpNeighKFs.begin(), vpNeighKFs.end(), pKF->mPrevKF);if(it==vpNeighKFs.end())vpNeighKFs.push_back(pKF->mPrevKF);pKF = pKF->mPrevKF;}}float th = 0.6f;ORBmatcher matcher(th,false);cv::Mat Rcw1 = mpCurrentKeyFrame->GetRotation();cv::Mat Rwc1 = Rcw1.t();cv::Mat tcw1 = mpCurrentKeyFrame->GetTranslation();cv::Mat Tcw1(3,4,CV_32F);Rcw1.copyTo(Tcw1.colRange(0,3));tcw1.copyTo(Tcw1.col(3));cv::Mat Ow1 = mpCurrentKeyFrame->GetCameraCenter();const float &fx1 = mpCurrentKeyFrame->fx;const float &fy1 = mpCurrentKeyFrame->fy;const float &cx1 = mpCurrentKeyFrame->cx;const float &cy1 = mpCurrentKeyFrame->cy;const float &invfx1 = mpCurrentKeyFrame->invfx;const float &invfy1 = mpCurrentKeyFrame->invfy;const float ratioFactor = 1.5f*mpCurrentKeyFrame->mfScaleFactor;// Search matches with epipolar restriction and triangulatefor(size_t i=0; i<vpNeighKFs.size(); i++){if(i>0 && CheckNewKeyFrames())// && (mnMatchesInliers>50))return;KeyFrame* pKF2 = vpNeighKFs[i];GeometricCamera* pCamera1 = mpCurrentKeyFrame->mpCamera, *pCamera2 = pKF2->mpCamera;// Check first that baseline is not too shortcv::Mat Ow2 = pKF2->GetCameraCenter();cv::Mat vBaseline = Ow2-Ow1;const float baseline = cv::norm(vBaseline);if(!mbMonocular){if(baseline<pKF2->mb)continue;}else{const float medianDepthKF2 = pKF2->ComputeSceneMedianDepth(2);const float ratioBaselineDepth = baseline/medianDepthKF2;if(ratioBaselineDepth<0.01)continue;}// Compute Fundamental Matrixcv::Mat F12 = ComputeF12(mpCurrentKeyFrame,pKF2);// Search matches that fullfil epipolar constraintvector<pair<size_t,size_t> > vMatchedIndices;bool bCoarse = mbInertial &&((!mpCurrentKeyFrame->GetMap()->GetIniertialBA2() && mpCurrentKeyFrame->GetMap()->GetIniertialBA1())||mpTracker->mState==Tracking::RECENTLY_LOST);matcher.SearchForTriangulation(mpCurrentKeyFrame,pKF2,F12,vMatchedIndices,false,bCoarse);cv::Mat Rcw2 = pKF2->GetRotation();cv::Mat Rwc2 = Rcw2.t();cv::Mat tcw2 = pKF2->GetTranslation();cv::Mat Tcw2(3,4,CV_32F);Rcw2.copyTo(Tcw2.colRange(0,3));tcw2.copyTo(Tcw2.col(3));const float &fx2 = pKF2->fx;const float &fy2 = pKF2->fy;const float &cx2 = pKF2->cx;const float &cy2 = pKF2->cy;const float &invfx2 = pKF2->invfx;const float &invfy2 = pKF2->invfy;// Triangulate each matchconst int nmatches = vMatchedIndices.size();for(int ikp=0; ikp<nmatches; ikp++){const int &idx1 = vMatchedIndices[ikp].first;const int &idx2 = vMatchedIndices[ikp].second;const cv::KeyPoint &kp1 = (mpCurrentKeyFrame -> NLeft == -1) ? mpCurrentKeyFrame->mvKeysUn[idx1]: (idx1 < mpCurrentKeyFrame -> NLeft) ? mpCurrentKeyFrame -> mvKeys[idx1]: mpCurrentKeyFrame -> mvKeysRight[idx1 - mpCurrentKeyFrame -> NLeft];const float kp1_ur=mpCurrentKeyFrame->mvuRight[idx1];bool bStereo1 = (!mpCurrentKeyFrame->mpCamera2 && kp1_ur>=0);const bool bRight1 = (mpCurrentKeyFrame -> NLeft == -1 || idx1 < mpCurrentKeyFrame -> NLeft) ? false: true;const cv::KeyPoint &kp2 = (pKF2 -> NLeft == -1) ? pKF2->mvKeysUn[idx2]: (idx2 < pKF2 -> NLeft) ? pKF2 -> mvKeys[idx2]: pKF2 -> mvKeysRight[idx2 - pKF2 -> NLeft];const float kp2_ur = pKF2->mvuRight[idx2];bool bStereo2 = (!pKF2->mpCamera2 && kp2_ur>=0);const bool bRight2 = (pKF2 -> NLeft == -1 || idx2 < pKF2 -> NLeft) ? false: true;if(mpCurrentKeyFrame->mpCamera2 && pKF2->mpCamera2){if(bRight1 && bRight2){Rcw1 = mpCurrentKeyFrame->GetRightRotation();Rwc1 = Rcw1.t();tcw1 = mpCurrentKeyFrame->GetRightTranslation();Tcw1 = mpCurrentKeyFrame->GetRightPose();Ow1 = mpCurrentKeyFrame->GetRightCameraCenter();Rcw2 = pKF2->GetRightRotation();Rwc2 = Rcw2.t();tcw2 = pKF2->GetRightTranslation();Tcw2 = pKF2->GetRightPose();Ow2 = pKF2->GetRightCameraCenter();pCamera1 = mpCurrentKeyFrame->mpCamera2;pCamera2 = pKF2->mpCamera2;}else if(bRight1 && !bRight2){Rcw1 = mpCurrentKeyFrame->GetRightRotation();Rwc1 = Rcw1.t();tcw1 = mpCurrentKeyFrame->GetRightTranslation();Tcw1 = mpCurrentKeyFrame->GetRightPose();Ow1 = mpCurrentKeyFrame->GetRightCameraCenter();Rcw2 = pKF2->GetRotation();Rwc2 = Rcw2.t();tcw2 = pKF2->GetTranslation();Tcw2 = pKF2->GetPose();Ow2 = pKF2->GetCameraCenter();pCamera1 = mpCurrentKeyFrame->mpCamera2;pCamera2 = pKF2->mpCamera;}else if(!bRight1 && bRight2){Rcw1 = mpCurrentKeyFrame->GetRotation();Rwc1 = Rcw1.t();tcw1 = mpCurrentKeyFrame->GetTranslation();Tcw1 = mpCurrentKeyFrame->GetPose();Ow1 = mpCurrentKeyFrame->GetCameraCenter();Rcw2 = pKF2->GetRightRotation();Rwc2 = Rcw2.t();tcw2 = pKF2->GetRightTranslation();Tcw2 = pKF2->GetRightPose();Ow2 = pKF2->GetRightCameraCenter();pCamera1 = mpCurrentKeyFrame->mpCamera;pCamera2 = pKF2->mpCamera2;}else{Rcw1 = mpCurrentKeyFrame->GetRotation();Rwc1 = Rcw1.t();tcw1 = mpCurrentKeyFrame->GetTranslation();Tcw1 = mpCurrentKeyFrame->GetPose();Ow1 = mpCurrentKeyFrame->GetCameraCenter();Rcw2 = pKF2->GetRotation();Rwc2 = Rcw2.t();tcw2 = pKF2->GetTranslation();Tcw2 = pKF2->GetPose();Ow2 = pKF2->GetCameraCenter();pCamera1 = mpCurrentKeyFrame->mpCamera;pCamera2 = pKF2->mpCamera;}}// Check parallax between rayscv::Mat xn1 = pCamera1->unprojectMat(kp1.pt);cv::Mat xn2 = pCamera2->unprojectMat(kp2.pt);cv::Mat ray1 = Rwc1*xn1;cv::Mat ray2 = Rwc2*xn2;const float cosParallaxRays = ray1.dot(ray2)/(cv::norm(ray1)*cv::norm(ray2));float cosParallaxStereo = cosParallaxRays+1;float cosParallaxStereo1 = cosParallaxStereo;float cosParallaxStereo2 = cosParallaxStereo;if(bStereo1)cosParallaxStereo1 = cos(2*atan2(mpCurrentKeyFrame->mb/2,mpCurrentKeyFrame->mvDepth[idx1]));else if(bStereo2)cosParallaxStereo2 = cos(2*atan2(pKF2->mb/2,pKF2->mvDepth[idx2]));cosParallaxStereo = min(cosParallaxStereo1,cosParallaxStereo2);cv::Mat x3D;if(cosParallaxRays<cosParallaxStereo && cosParallaxRays>0 && (bStereo1 || bStereo2 ||(cosParallaxRays<0.9998 && mbInertial) || (cosParallaxRays<0.9998 && !mbInertial))){// Linear Triangulation Methodcv::Mat A(4,4,CV_32F);A.row(0) = xn1.at<float>(0)*Tcw1.row(2)-Tcw1.row(0);A.row(1) = xn1.at<float>(1)*Tcw1.row(2)-Tcw1.row(1);A.row(2) = xn2.at<float>(0)*Tcw2.row(2)-Tcw2.row(0);A.row(3) = xn2.at<float>(1)*Tcw2.row(2)-Tcw2.row(1);cv::Mat w,u,vt;cv::SVD::compute(A,w,u,vt,cv::SVD::MODIFY_A| cv::SVD::FULL_UV);x3D = vt.row(3).t();if(x3D.at<float>(3)==0)continue;// Euclidean coordinatesx3D = x3D.rowRange(0,3)/x3D.at<float>(3);}else if(bStereo1 && cosParallaxStereo1<cosParallaxStereo2){x3D = mpCurrentKeyFrame->UnprojectStereo(idx1);}else if(bStereo2 && cosParallaxStereo2<cosParallaxStereo1){x3D = pKF2->UnprojectStereo(idx2);}else{continue; //No stereo and very low parallax}cv::Mat x3Dt = x3D.t();if(x3Dt.empty()) continue;//Check triangulation in front of camerasfloat z1 = Rcw1.row(2).dot(x3Dt)+tcw1.at<float>(2);if(z1<=0)continue;float z2 = Rcw2.row(2).dot(x3Dt)+tcw2.at<float>(2);if(z2<=0)continue;//Check reprojection error in first keyframeconst float &sigmaSquare1 = mpCurrentKeyFrame->mvLevelSigma2[kp1.octave];const float x1 = Rcw1.row(0).dot(x3Dt)+tcw1.at<float>(0);const float y1 = Rcw1.row(1).dot(x3Dt)+tcw1.at<float>(1);const float invz1 = 1.0/z1;if(!bStereo1){cv::Point2f uv1 = pCamera1->project(cv::Point3f(x1,y1,z1));float errX1 = uv1.x - kp1.pt.x;float errY1 = uv1.y - kp1.pt.y;if((errX1*errX1+errY1*errY1)>5.991*sigmaSquare1)continue;}else{float u1 = fx1*x1*invz1+cx1;float u1_r = u1 - mpCurrentKeyFrame->mbf*invz1;float v1 = fy1*y1*invz1+cy1;float errX1 = u1 - kp1.pt.x;float errY1 = v1 - kp1.pt.y;float errX1_r = u1_r - kp1_ur;if((errX1*errX1+errY1*errY1+errX1_r*errX1_r)>7.8*sigmaSquare1)continue;}//Check reprojection error in second keyframeconst float sigmaSquare2 = pKF2->mvLevelSigma2[kp2.octave];const float x2 = Rcw2.row(0).dot(x3Dt)+tcw2.at<float>(0);const float y2 = Rcw2.row(1).dot(x3Dt)+tcw2.at<float>(1);const float invz2 = 1.0/z2;if(!bStereo2){cv::Point2f uv2 = pCamera2->project(cv::Point3f(x2,y2,z2));float errX2 = uv2.x - kp2.pt.x;float errY2 = uv2.y - kp2.pt.y;if((errX2*errX2+errY2*errY2)>5.991*sigmaSquare2)continue;}else{float u2 = fx2*x2*invz2+cx2;float u2_r = u2 - mpCurrentKeyFrame->mbf*invz2;float v2 = fy2*y2*invz2+cy2;float errX2 = u2 - kp2.pt.x;float errY2 = v2 - kp2.pt.y;float errX2_r = u2_r - kp2_ur;if((errX2*errX2+errY2*errY2+errX2_r*errX2_r)>7.8*sigmaSquare2)continue;}//Check scale consistencycv::Mat normal1 = x3D-Ow1;float dist1 = cv::norm(normal1);cv::Mat normal2 = x3D-Ow2;float dist2 = cv::norm(normal2);if(dist1==0 || dist2==0)continue;if(mbFarPoints && (dist1>=mThFarPoints||dist2>=mThFarPoints)) // MODIFICATIONcontinue;const float ratioDist = dist2/dist1;const float ratioOctave = mpCurrentKeyFrame->mvScaleFactors[kp1.octave]/pKF2->mvScaleFactors[kp2.octave];if(ratioDist*ratioFactor<ratioOctave || ratioDist>ratioOctave*ratioFactor)continue;// Triangulation is succesfullMapPoint* pMP = new MapPoint(x3D,mpCurrentKeyFrame,mpAtlas->GetCurrentMap());pMP->AddObservation(mpCurrentKeyFrame,idx1);            pMP->AddObservation(pKF2,idx2);mpCurrentKeyFrame->AddMapPoint(pMP,idx1);pKF2->AddMapPoint(pMP,idx2);pMP->ComputeDistinctiveDescriptors();pMP->UpdateNormalAndDepth();mpAtlas->AddMapPoint(pMP);mlpRecentAddedMapPoints.push_back(pMP);}}
}

之后运行目录下的build.sh文件。

cd ORB_SLAM3
chmod +x ./build.sh
./build.sh

没有报错则安装成功。

数据集下载

在 ORB_SLAM3 github 网站中，作者对数据集的下载有以下说明：

EuRoC dataset was recorded with two pinhole cameras and an inertial sensor. We provide an example script to launch EuRoC sequences in all the sensor configurations.
Download a sequence (ASL format) from .php?id=kmavvisualinertialdatasets
Open the script “euroc_examples.sh” in the root of the project. Change pathDatasetEuroc variable to point to the directory where the dataset has been uncompressed.

从.php?id=kmavvisualinertialdatasets下载ASL Dataset Format数据集，并把数据集解压到名为MH01的文件夹内。再将euroc_examples.sh中数据集的地址更改为解压后数据集的绝对地址。

cd ~
wget .zip
unzip MH_01_easy.zip
mv -rf ./mav0 ~/datasets/MH01

将euroc_examples.sh的第二行进行修改：

pathDatasetEuroc='/home/s/datasets' #Example, it is necesary to change it by the dataset path

运行exampls目录下的euroc_examples.sh即可看到ORB_SLAM3的输出。

ROS_melodic的安装(optional)

roswiki中有详细的安装步骤
其中有几点需要注意：

1. 在更换软件源的时候可以选择中国的源，详情可见
2. 在添加环境的环节，注意当前使用的是bash还是zsh，从而选择在.bashrc还是.zshrc中添加source
3. 在执行sudo rosdep init时，可能需要科学上网
4. 最重要的一点，ROS的安装教程要选择英文版而不是中文版的，中文版的安装教程并没有英文版的全面，比如在sudo rosdep init之前要先执行sudo apt install python-rosdep才不会报错

ORB_SLAM3中ROS软件包的编译(optional)

1. 首先需要添加ros软件包路径

//打开bash环境配置文件
gedit ~/.bashrc
//在文件最下方插入下面这句话(其中PATH改为真实绝对路径)
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS

2. 修改~/git/ORB_SLAM3/Examples/ROS/ORB_SLAM3/src/ros_mono文件

//修改第62行中的rostopic话题名称为/cam0/image_raw，与数据集中topic话题名称统一ros::Subscriber sub = nodeHandler.subscribe("/cam0/image_raw", 1, &ImageGrabber::GrabImage,&igb);

3. 编译ros文件夹中的源码

cd ~/git/ORB_SLAM3/Examples/ROS/ORB_SLAM3
mkdir build
cd build
cmake ..
make

4. 下载ROS bag格式数据集并运行数据集

cd ~
wget .bag
//终端1
roscore
//终端2
rosbag play ~/MH_01_easy.bag
//终端3
rosrun ORB_SLAM3 Mono /home/s/git/ORB_SLAM3/Vocabulary/ORBvoc.txt /home/s/git/ORB_SLAM3/Examples/ROS/ORB_SLAM3/Asus.yaml 

运行成功示例

错误提示以及修正方案

1. 编译ORB_SLAM3出现错误

/home/s/ORB_SLAM3/src/CameraModels/KannalaBrandt8.cpp:534:41: error: no match for ‘operator/’ (operand types are ‘cv::Matx<float, 3, 1>’ and ‘float’)x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);

参考ORB_SLAM3的下载与编译，修改两个文件即可