Featured image of post ORB SLAM3稠密建图
教程

ORB SLAM3稠密建图

依赖

Eigen

eigen.tuxfamily.org

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wget https://gitlab.com/libeigen/eigen/-/archive/3.3.4/eigen-3.3.4.zip
unzip eigen-3.3.4.zip && cd eigen-3.3.4
mkdir build && cd build
cmake ..
sudo make install
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include

Pangolin

Pangolin-Github

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git clone https://github.com/stevenlovegrove/Pangolin
cd Pangolin/scripts/
rm -rf vcpkg/
git clone https://github.com/microsoft/vcpkg
cd ..
./scripts/install_prerequisites.sh --dry-run recommended
mkdir build && cd build
cmake ..
cmake --build .
sudo make install

错误1：Could NOT find OpenGL

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sudo apt install libgl1-mesa-dev

错误2：Could not find GLEW

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sudo apt install libglew-dev

OpenCV

opencv.org

  1. 安装依赖
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    sudo apt install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg-dev libswscale-dev libtiff5-dev
sudo apt install libgtk2.0-dev
sudo apt install pkg-config
  2. 安装OpenCV
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    sudo apt update && sudo apt install g++ unzip wget cmake
wget -O opencv.zip https://github.com/opencv/opencv/archive/refs/tags/4.4.0.zip
unzip opencv.zip
cd opencv-4.4.0/
mkdir build && cd build
cmake ..
cmake --build .
sudo make install

Boost

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sudo apt install libboost-all-dev

安装PCL

  1. 依赖 将以下内容保存为install_pcl_dependences.sh ，使用在ubuntu 命令行终端输入sudo sh install_pcl_dependences.sh 即可进行安装，在下载安装依赖库过程中会提示是否安装，都输入y。（好像没什么用）
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 sudo apt-get update
 sudo apt-get install git build-essential linux-libc-dev
 sudo apt-get install cmake cmake-gui
 sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
 sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
 sudo apt-get install libflann1.8 libflann-dev
 sudo apt-get install libeigen3-dev
 sudo apt-get install libboost-all-dev
 sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
 sudo apt-get install libqhull* libgtest-dev
 sudo apt-get install freeglut3-dev pkg-config
 sudo apt-get install libxmu-dev libxi-dev
 sudo apt-get install mono-complete
 sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
  1. 下载源码
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## 下载
wget -O pcl.tar.gz https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.12.0.tar.gz
## 解压
tar -zxvf pcl.tar.gz
  1. 安装
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cd pcl-pcl-1.12.0
mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. 
make
sudo make install

这个是用apt安装，但是好像版本不对

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sudo apt install libpcl-dev

安装SLAM

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git clone -b dense_map https://github.com/electech6/ORB_SLAM3_detailed_comments
cd ORB_SLAM3_detailed_comments
chmod +x build.sh
./build.sh  ## 如果报错可以试试打开这个文件把里面的指令一句一句手动执行，`make -j`换成`make`

报错1：

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fatal error: openssl/md5.h: c
 #include <openssl/md5.h>
          ^~~~~~~~~~~~~~~

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sudo apt install libssl-dev

未完待续……