注册公司需要啥资料,潍坊网站建设优化,河北高端网站定制公司,网站建设方案华为目录安装OpenCV 3注意事项安装Glew安装Pangolin安装boost安装Eigen 3安装ORB_SLAM3试用平台#xff1a;华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本#xff1a;Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 参考资料#xff1a; 【入门必看】视觉惯性SLAM“灭霸”华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 参考资料 【入门必看】视觉惯性SLAM“灭霸”ORB-SLAM3 —— 计算机视觉life Ubuntu16.04环境下安装配置ORB-SLAM3 —— Hannnnnnnk internal compiler error —— lifei_0001 ORBSLAM3 单目摄像头运行 —— 熊铁树
20220320补 之前用的Fastgit来加速下载但由于旧的镜像站不能用了新镜像站速度也很慢所以寄了。现在所用的方法见【Jetson Nano学习笔记】2. ORB-SLAM3及ZED 2i驱动安装
安装OpenCV 3
安装各种依赖包
// 安装build-essential、cmake、git和pkg-config
sudo apt install build-essential cmake git pkg-config // 安装jpeg格式图像工具包
sudo apt install libjpeg62-turbo-dev// 安装tif格式图像工具包
sudo apt install libtiff5-dev //安装视频I/O包
sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev//安装gtk2.0
sudo apt install aptitude
sudo aptitude install libgtk2.0-dev//优化函数包
sudo apt install libatlas-base-dev gfortran安装opencv及contrib
# Install minimal prerequisites (Ubuntu 18.04 as reference)
sudo apt update sudo apt install -y cmake g wget unzip
# Download and unpack sources
wget -O opencv.zip https://hub.fastgit.org/opencv/opencv/archive/3.4.16.zip
wget -O opencv_contrib.zip https://hub.fastgit.org/opencv/opencv_contrib/archive/3.4.16.zip
unzip opencv.zip
unzip opencv_contrib.zip
# Create build directory and switch into it
mkdir -p build cd build
# Configure
cmake -DOPENCV_EXTRA_MODULES_PATH../opencv_contrib-3.4.16/modules ../opencv-3.4.16
# Build
cmake --build .
# 安装
sudo make install
# 更新动态链接库
sudo ldconfig注意事项
在执行
cmake -DOPENCV_EXTRA_MODULES_PATH../opencv_contrib-3.4.16/modules ../opencv-3.4.16时可能会警告下载某些文件超时可在cmake的日志中获取其下载链接和放置路径自行补全后再次
cmake -DOPENCV_EXTRA_MODULES_PATH../opencv_contrib-3.4.16/modules ../opencv-3.4.16安装Glew
sudo apt install libglew-dev安装Pangolin
git clone https://hub.fastgit.org/zzx2GH/Pangolin.git
cd Pangolin
sudo nano ~/Pangolin/src/CMakeLists.txt注释掉如下内容
Ubuntu 14.04下安装Pagolin遇到的问题及解决方法之一
sudo nano ~/Pangolin/src/display/device/display_x11.cpp注释如下两行
出现报错Pangolin X11: Unable to retrieve framebuffer options怎么办 —— abcwoabcwo
mkdir build
cd build
cmake ..
make
cmake --build .
sudo make install安装boost
wget -O boost_1_78_0.tar.gz https://boostorg.jfrog.io/artifactory/main/release/1.78.0/source/boost_1_78_0.tar.gz
tar -zxvf boost_1_78_0.tar.gz
cd boost_1_78_0/
./bootstrap.sh
sudo ./b2 install安装Eigen 3
git clone https://gitee.com/kobin24/eigen-git-mirror.git
cd eigen-git-mirror
mkdir build
cd build
cmake ..
sudo make install执行完命令后需要找到Eigen的安装路径将Eigen文件夹复制到/usr/include。在Nano上用的是以下命令完成(引自Ubuntu16.04环境下安装配置ORB-SLAM3 —— Hannnnnnnk)
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include 安装ORB_SLAM3
编译需要半天时间过程中使用的ram十分惊人我专门买了个内存卡做swap才编译成功见 Linux内存卡SD卡、TF卡作为Swap交换空间 曾使用了高达13G的ram
git clone https://hub.fastgit.org/electech6/ORB_SLAM3_detailed_comments.git
cd ORB_SLAM3_detailed_comments
sudo chmod x ./build.sh
sudo chmod x ./build_ros.sh./build.shsudo nano ~/.bashrc
# ~/ORB_SLAM3_detailed_comments为自己电脑中ORB_SLAM3存放的路径
export ROS_PACKAGE_PATH${ROS_PACKAGE_PATH}:~/ORB_SLAM3_detailed_comments/Examples/ROS
source ~/.bashrc./build_ros.sh试用
# 新建一个终端
roscore# 新建一个终端
roslaunch usb_cam usb_cam-test.launch# 新建一个终端
rostopic list可以看到当前的话题 其中 /usb_cam/image_raw就是摄像头的话题 修改以下文件
sudo nano ~/ORB_SLAM3_detailed_comments/Examples/ROS/ORB_SLAM3/src/ros_mono.cc改为
/usb_cam/image_raw回到ORB_SLAM3主目录再次编译
cd ~/ORB_SLAM3_detailed_comments
./build_ros.sh# 新建一个终端
rosrun ORB_SLAM3 Mono ~/ORB_SLAM3_detailed_comments/Vocabulary/ORBvoc.txt ~/ORB_SLAM3_detailed_comments/Examples/ROS/ORB_SLAM3/Asus.yamlRK3399Pro运行ORB-SLAM3单目Demo
