install ORB_SLAM2 for rtabmap

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安装 Pangolin
https://github.com/stevenlovegrove/Pangolin.git

sudo apt install libglew-dev

mkdir build
cd build
cmake …
make –j4
sudo make install

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安装ORB_SLAM2
https://github.com/raulmur/ORB_SLAM2
catkin_ws_vins-fusion/src/ORB_SLAM2/CMakeLists.txt 删除“-march=native”
catkin_ws_vins-fusion/src/ORB_SLAM2/Thirdparty/g2o/CMakeLists.txt 删除“-march=native”
catkin_ws_vins-fusion/src/ORB_SLAM2/Thirdparty/DBoW2/CMakeLists.txt 删除“-march=native”

‘_ZN5boost6system15system_categoryEv’
ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt
find_package(Boost REQUIRED system)
${Boost_SYSTEM_LIBRARY}

gedit ~/.bashrc
export ORB_SLAM2_ROOT_DIR=/home/q/packages/ORB_SLAM2

echo “export
ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/q/packages/ORB_SLAM2/Examples/ROS/ORB_SLAM2” >> ~/.bashrc
source ~/.bashrc

重新启动

编译的时候要调整顺序 不知道为什么

将 make -j 改成 make -j4
./build.sh
./build_ros.h

include_directories("/home/q/Packages/gtsam/gtsam/3rdparty/Eigen")

error: ‘usleep’ was not declared in this scope

下面文件中添加头文件： #include <unistd.h>
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/System.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/Tracking.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/LoopClosing.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/LocalMapping.cc:
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/LocalMapping.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/LoopClosing.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/LocalMapping.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/src/Viewer.cc

gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/RGB-D/rgbd_tum.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/Stereo/stereo_kitti.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/Stereo/stereo_euroc.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/Monocular/mono_tum.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/Monocular/mono_kitti.cc
gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/Monocular/mono_euroc.cc

gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc

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测试ORB_SLAM2
ResourceNotFound: rgbd_launch
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/q/projects/catkin_ws-vins_fusion/src
ROS path [2]=/opt/ros/kinetic/share

sudo apt-get install ros-kinetic-rgbd-launch
sudo apt-get install ros-kinetic-ddynamic-reconfigure

Failed to open settings file at: Examples/RGB-D/TUM1.yaml
chmod 777 TUM1.yaml

[rospack] Error: package ‘ORB_SLAM2’ not found

RGBD:

1. roslaunch realsense2_camera rs_rgbd.launch
   rostopic list
   /camera/color/image_raw
   /camera/depth/image_rect_raw

2. gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc
   message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, “/camera/rgb/image_raw”, 1);
   message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, “camera/depth_registered/image_raw”, 1);

cd /ORB_SLAM2
rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /camera/rgb/image_raw:=/camera/color/image_raw camera/depth_registered/image_raw:=/camera/depth/image_rect_raw

[rospack] Error: package ‘ORB_SLAM2’ not found

source /opt/ros/kinetic/setup.bash
source /home/q/projects/catkin_ws-vins_fusion/devel/setup.bash
export ROS_PACKAGE_PATH=/opt/ros/kinetic/share:/home/q/packages/ORB_SLAM2/Examples/ROS/ORB_SLAM2

确保这个执行顺序 可以解决上面的问题

双目：

1. roslaunch realsense2_camera rs_camera.launch
   rostopic list
   /camera/infra1/image_rect_raw
   /camera/infra2/image_rect_raw

2. gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_stereo.cc
   message_filters::Subscriber<sensor_msgs::Image> left_sub(nh, “/camera/left/image_raw”, 1);
   message_filters::Subscriber<sensor_msgs::Image> right_sub(nh, “camera/right/image_raw”, 1);
   cd /home/q/Packages/ORB_SLAM2
   rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true /camera/left/image_raw:=/camera/infra1/image_rect_raw camera/right/image_raw:=/camera/infra2/image_rect_raw

单目：

1. roslaunch realsense2_camera rs_camera.launch
   rostopic list
   /camera/color/image_raw

2. gedit /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_mono.cc
   ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);
   ros::Subscriber sub = nodeHandler.subscribe("/camera/image_raw", 1, &ImageGrabber::GrabImage,&igb);

       cd /home/q/Projects/catkin_ws_vins-fusion/src/ORB_SLAM2
   
       rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml /camera/image_raw:=/camera/color/image_raw