{"id":291,"date":"2025-06-04T18:48:43","date_gmt":"2025-06-04T10:48:43","guid":{"rendered":"http:\/\/cennum.top\/?p=291"},"modified":"2025-06-05T17:42:59","modified_gmt":"2025-06-05T09:42:59","slug":"%e7%bc%96%e8%af%91%e5%b9%b6%e8%bf%90%e8%a1%8corb-slam3","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/06\/04\/%e7%bc%96%e8%af%91%e5%b9%b6%e8%bf%90%e8%a1%8corb-slam3\/","title":{"rendered":"ubuntu22\u7f16\u8bd1\u5e76\u8fd0\u884cORB-SLAM3\u793a\u4f8b"},"content":{"rendered":"\n

1.\u5b89\u88c5\u4f9d\u8d56\u9879<\/strong><\/h3>\n\n\n\n
sudo apt-get install build-essential\nsudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev\nsudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev<\/code><\/pre>\n\n\n\n
>\u5b89\u88c5OpenCV3<\/p>\n\n\n\n
OpenCV3\u5b98\u65b9\u6559\u7a0b\uff1ahttps:\/\/docs.opencv.org\/3.1.0\/d7\/d9f\/tutorial_linux_install.html<\/a><\/p>\n\n\n\n
git clone https:\/\/github.com\/opencv\/opencv.git\ncd opencv\nmkdir build\ncd build\ncmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=\/usr\/local ..\nmake -j3\nsudo make install<\/code><\/pre>\n\n\n\n
>\u5b89\u88c5 Eigen3 \uff083.3.9\uff09<\/p>\n\n\n\n
sudo apt remove libeigen3-dev\ngit clone https:\/\/gitlab.com\/libeigen\/eigen.git\ncd eigen\ngit checkout 3.3.9\nmkdir build && cd build\ncmake ..\nsudo make install<\/code><\/pre>\n\n\n\n
>\u5b89\u88c5 Pangolin<\/p>\n\n\n\n
\u53ef\u4ee5\u53c2\u8003\u5b98\u65b9\u6559\u7a0b\uff1a<\/p>\n\n\n\n
https:\/\/github.com\/stevenlovegrove\/Pangolin<\/a><\/p>\n\n\n\n
sudo apt install -y build-essential cmake git libglew-dev libglfw3-dev libxkbcommon-dev libpython3-dev ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libjpeg-dev libpng-dev libtiff-dev libopenexr-dev liblz4-dev libzstd-dev<\/code><\/pre>\n\n\n\n
git clone https:\/\/github.com\/stevenlovegrove\/Pangolin.git\ncd Pangolin\ngit checkout v0.7\nmkdir build\ncd build\ncmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=\"-Wno-error=deprecated-copy -Wno-error=deprecated-declarations\"\nmake -j$(nproc)\nsudo make install<\/code><\/pre>\n\n\n\n
>\u00a0\u4f7f\u7528 GCC 9 \u7f16\u8bd1 ORB-SLAM3<\/p>\n\n\n\n
\u5b89\u88c5\u5e76\u4e14\u5207\u6362\u5230gcc-9(gcc-11\u7f16\u8bd1\u4f1a\u62a5\u9519)<\/p>\n\n\n\n
sudo apt install g++-9\nexport CC=gcc-9\nexport CXX=g++-9<\/code><\/pre>\n\n\n\n
2.\u7f16\u8bd1ORB_SLAM3<\/h3>\n\n\n\n
\u4f9d\u8d56\u5b89\u88c5\u5b8c\u6210\uff0c\u73b0\u5728\u7f16\u8bd1<\/p>\n\n\n\n
cd ORB_SLAM3\/build\nrm -rf *\ncmake .. -DCMAKE_BUILD_TYPE=Release\nmake -j4<\/code><\/pre>\n\n\n\n
2.\u8fd0\u884cEuRoC \u793a\u4f8b<\/h3>\n\n\n\n
\u4e0b\u8f7d\u94fe\u63a5<\/p>\n\n\n\n
wget -c http:\/\/robotics.ethz.ch\/~asl-datasets\/ijrr_euroc_mav_dataset\/machine_hall\/MH_01_easy\/MH_01_easy.zip<\/code><\/pre>\n\n\n\n
\u89e3\u538b\u5230 MH01 \u6587\u4ef6\u5939<\/p>\n\n\n\n
<\/p>\n\n\n\n
    \n
  • \u8fd0\u884c\u793a\u4f8b<\/strong><\/li>\n\n\n\n
  • <\/li>\n<\/ul>\n\n\n\n
    \u4fee\u6539\/ORB_SLAM3\/Examples\/Monocular\/mono_euroc.cc<\/p>\n\n\n\n
    \u5c06\u4ee3\u7801\u4e2d\u8fd9\u4e00\u6bb5\u7684flase\u6539\u6210ture<\/p>\n\n\n\n
    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);<\/code><\/pre>\n\n\n\n
    \u8fd0\u884cEuRoC \u793a\u4f8b\uff1a<\/p>\n\n\n\n
    \u5c06 pathDatasetEuroc<\/strong> \u66ff\u6362\u4e3a\u60a8\u5305\u542b MH01 \u7684\u6570\u636e\u96c6\u8def\u5f84\u3002\u8fd0\u884c\u4ee5\u4e0b\u793a\u4f8b<\/p>\n\n\n\n
    mono_euroc<\/strong>: <\/p>\n\n\n\n
    .\/Examples\/Monocular\/mono_euroc .\/Vocabulary\/ORBvoc.txt .\/Examples\/Monocular\/EuRoC.yaml \"$pathDatasetEuroc\"\/MH01 .\/Examples\/Monocular\/EuRoC_TimeStamps\/MH01.txt dataset-MH01_mono<\/code><\/pre>\n\n\n\n
    mono_inertial_euroc<\/strong>:<\/p>\n\n\n\n
    .\/Examples\/Monocular-Inertial\/mono_inertial_euroc .\/Vocabulary\/ORBvoc.txt .\/Examples\/Monocular-Inertial\/EuRoC.yaml \"$pathDatasetEuroc\"\/MH01 .\/Examples\/Monocular-Inertial\/EuRoC_TimeStamps\/MH01.txt dataset-MH01_monoi<\/code><\/pre>\n\n\n\n
    <\/p>\n","protected":false},"excerpt":{"rendered":"
    1.\u5b89\u88c5\u4f9d\u8d56\u9879 >\u5b89\u88c5OpenCV3 Ope …<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2],"tags":[17],"class_list":["post-291","post","type-post","status-publish","format-standard","hentry","category-linux","tag-slam"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/291","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=291"}],"version-history":[{"count":10,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/291\/revisions"}],"predecessor-version":[{"id":536,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/291\/revisions\/536"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=291"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=291"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=291"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}