ORB SLAM2 学习笔记

cd ~/Documents/demos/ORB_SLAM2

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml rgbd_dataset_freiburg1_xyz rgbd_dataset_freiburg1_xyz/associations.txt

注意 Github README 上的ASSOCIATIONS_FILE 要加上associations.txt

遇到报错

/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.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/RGBD.dir/build.make:216: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.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/Stereo.dir/build.make:216: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

解决方法：
参考：https://github.com/raulmur/ORB_SLAM2/issues/494
修改CMakeLists.txt

增加-lboost_system

如下：

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

使用xtion

打开相机

roslaunch openni2_launch openni2.launch

ps: xtion 彩色图和深度图的topic为
/camera/rgb/image_raw
camera/depth_registered/image_raw

打开ORB

cd /home/william/Documents/demos/ORB_SLAM2/Examples/ROS/ORB_SLAM2
rosrun ORB_SLAM2 RGBD /home/william/Documents/demos/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/william/Documents/demos/ORB_SLAM2/Examples/ROS/ORB_SLAM2/xtion.yaml