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Ubuntu 16.04配置ORB_SLAM过程及问题记录

程序员文章站 2022-06-11 21:44:12
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ORB_SLAM环境配置及运行

配置时间：2019.7.5
源码链接：https://github.com/raulmur/ORB_SLAM
教程链接：https://blog.csdn.net/u011392872/article/details/78816746

编译g2o和DBoW2均很顺利：
问题1：
编译ORB_SLAM时报错：

aaa@qq.com:~/ORB_SLAM$ mkdir build
aaa@qq.com:~/ORB_SLAM$ cd build
aaa@qq.com:~/ORB_SLAM/build$ cmake .. -DCMAKE_BUILD_TYPE=Release
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.12") 
[rosbuild] Building package ORB_SLAM
Failed to invoke /opt/ros/kinetic/bin/rospack deps-manifests ORB_SLAM
[rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'
 
 
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:129 (message):
  
 
  Failed to invoke rospack to get compile flags for package 'ORB_SLAM'.  Look
  above for errors from rospack itself.  Aborting.  Please fix the broken
  dependency!
 
Call Stack (most recent call first):
  /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:207 (rosbuild_invoke_rospack)
  CMakeLists.txt:4 (rosbuild_init)
 
 
-- Configuring incomplete, errors occurred!
See also "/home/nuc/ORB_SLAM/build/CMakeFiles/CMakeOutput.log".

原因如下：官方给出的编译教程里说明了如果ROS版本是Indigo的话，需要将ORB_SLAM根目录下的manifest.xml文件中的opencv2依赖一行的代码去掉！但是这台电脑明明是Ubuntu 16.04，对应的ROS版本当然是Kinect，但是还是要去掉此行代码后才能编译成功。
Ubuntu 16.04配置ORB_SLAM过程及问题记录
Ubuntu 16.04配置ORB_SLAM过程及问题记录
然后编译就可以了。
然后cmake 没问题

问题2：
再然后make又出问题了。

aaa@qq.com:~/ORB_SLAM/build$ make -j8
Scanning dependencies of target rospack_genmsg_libexe
[  0%] Built target rospack_genmsg_libexe
Scanning dependencies of target rosbuild_precompile
[  0%] Built target rosbuild_precompile
Scanning dependencies of target ORB_SLAM
[  5%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/main.cc.o
[ 10%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Tracking.cc.o
[ 15%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/LocalMapping.cc.o
[ 21%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/LoopClosing.cc.o
[ 26%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/ORBextractor.cc.o
[ 31%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Converter.cc.o
[ 36%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/ORBmatcher.cc.o
[ 42%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/FramePublisher.cc.o
/home/nuc/ORB_SLAM/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::ComputeKeyPoints(std::vector<std::vector<cv::KeyPoint> >&)’:
/home/nuc/ORB_SLAM/src/ORBextractor.cc:607:63: error: ‘FAST’ was not declared in this scope
                 FAST(cellImage,cellKeyPoints[i][j],fastTh,true);
                                                               ^
/home/nuc/ORB_SLAM/src/ORBextractor.cc:616:34: error: ‘ORB’ has not been declared
                 if( scoreType == ORB::HARRIS_SCORE )
                                  ^
/home/nuc/ORB_SLAM/src/ORBextractor.cc:683:17: error: ‘KeyPointsFilter’ has not been declared
                 KeyPointsFilter::retainBest(keysCell,nToRetain[i][j]);
                 ^
/home/nuc/ORB_SLAM/src/ORBextractor.cc:699:13: error: ‘KeyPointsFilter’ has not been declared
             KeyPointsFilter::retainBest(keypoints,nDesiredFeatures);
             ^
/home/nuc/ORB_SLAM/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::operator()(cv::InputArray, cv::InputArray, std::vector<cv::KeyPoint>&, cv::OutputArray)’:
/home/nuc/ORB_SLAM/src/ORBextractor.cc:760:82: error: ‘GaussianBlur’ was not declared in this scope
         GaussianBlur(workingMat, workingMat, Size(7, 7), 2, 2, BORDER_REFLECT_101);
                                                                                  ^
/home/nuc/ORB_SLAM/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::ComputePyramid(cv::Mat, cv::Mat)’:
/home/nuc/ORB_SLAM/src/ORBextractor.cc:800:78: error: ‘INTER_LINEAR’ was not declared in this scope
             resize(mvImagePyramid[level-1], mvImagePyramid[level], sz, 0, 0, INTER_LINEAR);
                                                                              ^
/home/nuc/ORB_SLAM/src/ORBextractor.cc:800:90: error: ‘resize’ was not declared in this scope
             resize(mvImagePyramid[level-1], mvImagePyramid[level], sz, 0, 0, INTER_LINEAR);
                                                                                          ^
/home/nuc/ORB_SLAM/src/ORBextractor.cc:803:80: error: ‘INTER_NEAREST’ was not declared in this scope
                 resize(mvMaskPyramid[level-1], mvMaskPyramid[level], sz, 0, 0, INTER_NEAREST);
                                                                                ^
CMakeFiles/ORB_SLAM.dir/build.make:443: recipe for target 'CMakeFiles/ORB_SLAM.dir/src/ORBextractor.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM.dir/src/ORBextractor.cc.o] Error 1
make[2]: *** 正在等待未完成的任务....
CMakeFiles/Makefile2:227: recipe for target 'CMakeFiles/ORB_SLAM.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

编译ORB_SLAM过程中，移除manifest.xml中的opencv2的依赖以后，出现类或者函数未声明的问题,
解决：参考https://blog.csdn.net/weixin_42056625/article/details/88050474
解决方法：在src/ORBextractor.cc中添加

#include <opencv2/opencv.hpp>

然后重新编译，结果如下：

问题3：Eigen3 的bug

aaa@qq.com:~/ORB_SLAM/build$ cmake .. -DROS_BUILD_TYPE=Release
[rosbuild] Building package ORB_SLAM
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost
-- Using CATKIN_DEVEL_PREFIX: /home/nuc/ORB_SLAM/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/nuc/ORB_SLAM/build/test_results
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.18
-- BUILD_SHARED_LIBS is on
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
[rosbuild] Including /opt/ros/kinetic/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/kinetic/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/kinetic/share/rospy/rosbuild/rospy.cmake
Build type: Release
-- Configuring done
-- Generating done
-- Build files have been written to: /home/nuc/ORB_SLAM/build
aaa@qq.com:~/ORB_SLAM/build$ make -j8
[  0%] Built target rospack_genmsg_libexe
[  0%] Built target rosbuild_precompile
Scanning dependencies of target ORB_SLAM
[  5%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Map.cc.o
[ 10%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/MapPoint.cc.o
[ 15%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/ORBextractor.cc.o
[ 21%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/KeyFrame.cc.o
[ 26%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/MapPublisher.cc.o
[ 31%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Optimizer.cc.o
[ 36%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/PnPsolver.cc.o
[ 42%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Frame.cc.o
[ 47%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/KeyFrameDatabase.cc.o
[ 52%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Sim3Solver.cc.o
[ 57%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Initializer.cc.o
In file included from /usr/include/eigen3/Eigen/Core:297:0,
                 from /home/nuc/ORB_SLAM/Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:30,
                 from /home/nuc/ORB_SLAM/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41,
                 from /home/nuc/ORB_SLAM/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/nuc/ORB_SLAM/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/nuc/ORB_SLAM/include/LoopClosing.h:33,
                 from /home/nuc/ORB_SLAM/include/Optimizer.h:27,
                 from /home/nuc/ORB_SLAM/src/Optimizer.cc:21:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int>]’:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op<int>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type = void*]’
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32:   required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17:   required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase<OtherDerived>&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’
/home/nuc/ORB_SLAM/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:68:18:   required from ‘void g2o::LinearSolverEigen<MatrixType>::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen<MatrixType>::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>; g2o::LinearSolverEigen<MatrixType>::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen<MatrixType>::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’
/home/nuc/ORB_SLAM/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:195:9:   required from ‘void g2o::LinearSolverEigen<MatrixType>::computeSymbolicDecomposition(const g2o::SparseBlockMatrix<MatrixType>&) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’
/home/nuc/ORB_SLAM/Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h:100:37:   required from ‘bool g2o::LinearSolverEigen<MatrixType>::solve(const g2o::SparseBlockMatrix<MatrixType>&, double*, double*) [with MatrixType = Eigen::Matrix<double, 7, 7, 0, 7, 7>]’
/home/nuc/ORB_SLAM/src/Optimizer.cc:989:1:   required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:119:9: error: ‘YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY’ is not a member of ‘Eigen::internal::static_assertion<false>’
         if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MSG) {}
         ^
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:707:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
   EIGEN_STATIC_ASSERT((internal::functor_is_product_like<BINOP>::ret \
   ^
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: note: in expansion of macro ‘EIGEN_CHECK_BINARY_COMPATIBILIY’
   EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
   ^
CMakeFiles/ORB_SLAM.dir/build.make:1091: recipe for target 'CMakeFiles/ORB_SLAM.dir/src/Optimizer.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM.dir/src/Optimizer.cc.o] Error 1
make[2]: *** 正在等待未完成的任务....
CMakeFiles/Makefile2:324: recipe for target 'CMakeFiles/ORB_SLAM.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

问题原因：Eigen3的bug
解决方法：（https://www.cnblogs.com/shishiteng/p/5799406.html）
打开Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h，将以下代码

template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
{
  public:
    typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
    typedef Eigen::Triplet<double> Triplet;
    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;

改为

template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
{
  public:
    typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
    typedef Eigen::Triplet<double> Triplet;
    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;

就是将最后一行的SparseMatrix::Index改为int，然后再重新make，

aaa@qq.com:~/ORB_SLAM/build$ make -j8
[  0%] Built target rospack_genmsg_libexe
[  0%] Built target rosbuild_precompile
Scanning dependencies of target ORB_SLAM
[  5%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Optimizer.cc.o
[ 10%] Linking CXX executable ../bin/ORB_SLAM
/usr/bin/ld: CMakeFiles/ORB_SLAM.dir/src/main.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/ORB_SLAM.dir/build.make:1609: recipe for target '../bin/ORB_SLAM' failed
make[2]: *** [../bin/ORB_SLAM] Error 1
CMakeFiles/Makefile2:324: recipe for target 'CMakeFiles/ORB_SLAM.dir/all' failed
make[1]: *** [CMakeFiles/ORB_SLAM.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

继续执行make命令后，

问题4：出现libboost_system.so共享库的问题：
解决方法：（https://blog.csdn.net/weixin_42056625/article/details/88050474）

在CmakeLists.txt　的　include_directories 中添加${Boost_INCLUDE_DIRS}

include_directories(
${PROJECT_SOURCE_DIR}
${EIGEN3_INCLUDE_DIR}
${Boost_INCLUDE_DIRS}
)

添加${Boost_LIBRARIES}如下：

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Boost_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

添加find_package(Boost COMPONENTS system)如下：

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost COMPONENTS system)

编译通过。

问题5：
然后测试ORB-SLAM,在运行.launch文件的时候，出现找不到image节点的错误，

aaa@qq.com:~/SLAM/src/ORB_SLAM$ roslaunch ExampleGroovyOrNewer.launch 
... logging to /home/acl/.ros/log/9939aefe-b287-11e9-9f78-000c2904c99b/roslaunch-ubuntu-6160.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:40387/

SUMMARY
========

PARAMETERS
 * /image_view/autosize: True
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    ORB_SLAM (ORB_SLAM/ORB_SLAM)
    image_view (image_view/image_view)
    rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [6170]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9939aefe-b287-11e9-9f78-000c2904c99b
process[rosout-1]: started with pid [6183]
started core service [/rosout]
ERROR: cannot launch node of type [image_view/image_view]: image_view
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/acl/SLAM/src
ROS path [2]=/opt/ros/kinetic/share
process[rviz-3]: started with pid [6200]
process[ORB_SLAM-4]: started with pid [6201]

ORB-SLAM Copyright (C) 2014 Raul Mur-Artal
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Loading ORB Vocabulary. This could take a while.
Vocabulary loaded!

Camera Parameters: 
- fx: 609.286
- fy: 609.342
- cx: 351.427
- cy: 237.732
- k1: -0.3492
- k2: 0.1363
- p1: 0
- p2: 0
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Fast Threshold: 20
- Score: FAST

Motion Model: Enabled

如下图所示：
Ubuntu 16.04配置ORB_SLAM过程及问题记录
解决： sudo apt-get install ros-kinetic-image-view

2、在ros工作空间下运行ORB SLAM
参考网址：（https://blog.csdn.net/lixujie666/article/details/80475451）
注意：在配置ORB SLAM1时，　　　　　把博主的ＯＲＢＳＬＡＭ１文件夹的名称改为ＯＲＢＳＬＡＭ，否则在运行.launch 文件时找不到文件夹

相关标签： ORB_SLAM Ubuntu Intel nuc

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