Ubuntu16.04编译运行orb-slam2和orb-slam3-优快云博客

本文链接：https://blog.youkuaiyun.com/qq_42150914/article/details/109217174

Ubuntu16.04编译运行orb-slam2和orb-slam3

**前提：**首先换过源；其次在ubuntu16.04上安装好了ROS操作系统，可参照之前博客
1.安装依赖库

Pangolin安装
（参考博客：https://blog.youkuaiyun.com/HUST_lc/article/details/107570806）
OpenCV 3.2版本以上
我使用的是3.4.1版本，下载地址：https://codeload.github.com/opencv/opencv/zip/3.4.1
（过程参考博客：https://blog.youkuaiyun.com/cocoaqin/article/details/78163171?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160333602619724842937496%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160333602619724842937496&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_v2~rank_v28-9-78163171.pc_first_rank_v2_rank_v28&utm_term=OpenCV+3.4.1&spm=1018.2118.3001.4187）
Eigen 3
(最好源码下载不然后面编译出现错误，可参考博客：https://blog.youkuaiyun.com/weixin_38874698/article/details/108424705?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160352593919725225048495%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160352593919725225048495&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_v2~rank_v28-2-108424705.pc_first_rank_v2_rank_v28&utm_term=CMake+Error+in+CMakeLists.txt%3A&spm=1018.2118.3001.4187)
（参考博客：https://blog.youkuaiyun.com/weixin_44703770/article/details/107698985?biz_id=102&utm_term=ORB-SLAM3%E6%95%B0%E6%8D%AE%E9%9B%86%E6%B5%8B%E8%AF%95&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduweb~default-0-107698985&spm=1018.2118.3001.4187）
Python
一般系统自带，无需安装，没有可
sudo apt install libpython2.7-dev
2.源码下载
ORB-SLAM2源码地址：https://github.com/raulmur/ORB_SLAM2
ORB-SLAM3源码地址：https://github.com/UZ-SLAMLab/ORB_SLAM3
3.编译运行
ORB-SLAM2编译运行
编译1
$ cd ~/SLAM/src/ORB_SLAM2/
$ chmod +x build.sh
$ ./build.sh
注意编译出错1时可参考博客：https://blog.youkuaiyun.com/qq_15698613/article/details/98453592?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160336943919724839242324%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160336943919724839242324&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_v2~rank_v28-1-98453592.pc_first_rank_v2_rank_v28&utm_term=%2Fhome%2Fnanorobot%2FSLAM%2Fsrc%2FORB_S&spm=1018.2118.3001.4187
编译出错2：（https://blog.youkuaiyun.com/TengYun_zhang/article/details/96606346?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param）
编译出错3https://blog.youkuaiyun.com/lixujie666/article/details/90023059

编译2
$chmod +x build_ros.sh
$ ./build_ros.sh
注意编译出错时可参考博客：https://blog.youkuaiyun.com/chengmo123/article/details/104906376?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160337161119724842932195%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160337161119724842932195&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_v2~rank_v28-4-104906376.pc_first_rank_v2_rank_v28&utm_term=Traceback+%28most+recent+call+la&spm=1018.2118.3001.4187
**和另一篇博客：**如果一直出现……libboost_system.so,need by ……/RGDB错误，我参照网上很多方法，一直不对，弄了两天，最后重新安装编译boost库，就好了
（参照博客：https://blog.youkuaiyun.com/weixin_42156097/article/details/103861974?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160359185119724813223072%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160359185119724813223072&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2_allfirst_rank_v2~rank_v28-7-103861974.pc_first_rank_v2_rank_v28&utm_term=ubuntu16.04%E5%AE%89%E8%A3%85libboost_system.s&spm=1018.2118.3001.4187）下载后的libboost那四个文件默认在/usr/local/lib里面，所以建议使用复制命令复制到/usr/lib里面。
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