mkdir release
4. 可以看到在OpenCV目录下，有个CMakeLists.txt文件，需要事先安装一些软件 sudo apt-get install build-essential cmake libgtk2.0-dev pkg-config python-dev python-numpy libavcodec-dev libavformat-dev libswscale-dev 5. 进入release目录，安装OpenCV是所有的文件都会被放到这个release目录下 cd release 6. cmake编译OpenCV源码，安装所有的lib文件都会被安装到/usr/local目录下 cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 7. 安装 sudo make install ORB SLAM之Pangolin安装（Ubuntu14.04）安装Pangolin1.pangolin是什么？
Pangolin是一个用于OpenGL显示/交互以及视频输入的一个轻量级、快速开发库，下面是Pangolin的Github网址：https://github.com/stevenlovegrove/Pangolin2.我们为什么要用Pangolin？在哪里可以用到Pangolin？ORB_SLAM2中需要有Pangolin的支持。 3.安装过程？按照Github上面的教程走即可，非常简单（https://github.com/stevenlovegrove/Pangolin）。(1)安装一些必要的库：
Glew：
sudo apt-get install libglew-devCMake：sudo apt-get install cmakeBoost：sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-devPython2 / Python3：sudo apt-get install libpython2.7-dev (2)在安装完上述依赖后，就可以开始安装Pangolin了，安装过程十分简单：git clone https://github.com/stevenlovegrove/Pangolin.gitcd Pangolinmkdir buildcd buildcmake -DCPP11_NO_BOOST=1 ..make -j(3)这时，你可能会遇到如下问题：
看到这里的OpenNI和OpenNI2的部分了吧，将其全部注释掉即可。
make -j
运行！！！
普通单目摄像头实现ORBSLAM21. 使用usb_cam作为单目相机驱动 从https://github.com/bosch-ros-pkg/usb_cam下载usb_cam，放到工作空间catkin_ws/src下，catkin_make编译cd /home/lzp/catkin_mono_orb/src/usb_cam
cd launchgedit usb_cam-test.launch
将以下launch文件内容复制到launch文件中：<launch> <node name="camera" pkg="usb_cam" type="usb_cam_node" output="screen" > <param name="video_device" value="/dev/video0" /> <param name="image_width" value="640" /> <param name="image_height" value="480" /> <param name="pixel_format" value="yuyv" /> <param name="camera_frame_id" value="camera" /> <param name="io_method" value="mmap"/> <remap from="/usb_cam/image_raw" to="/camera/image_raw" /> </node> <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen"> <remap from="image" to="/camera/image_raw"/> <param name="autosize" value="true" /> </node></launch><remap from="/usb_cam/image_raw" to="/camera/image_raw" /><remap from="image" to="/camera/image_raw"/>对两句进行了修改怎样把普通摄像头图像发布到ROS 的TOPIC2. 中间过程与RGBD过程相同3. 实现（分别开3个终端，主要运行此处就可以）第一个终端cd /home/moon/ORB_SLAM2 roscore第二个终端 打开摄像头cd /home/moon/catkin_wssource devel/setup.bashroslaunch usb_cam usb_cam-test.launch第三个终端 运行程序cd /home/moon/catkin_wssource /etc/profilerosrun ORB_SLAM2 Mono /home/moon/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/moon/ORB_SLAM2/Examples/Monocular/TUM1.yaml # 显示建图画面(ros indigo) rosrun rviz rviz ～～～～～～～～～～～～～～～～～～以下为详细介绍～～～～～～～～～～～～～～～～～～～二/打开摄像头moon@moon-Precision-T1650:~/catkin_ws$ source devel/setup.bash moon@moon-Precision-T1650:~/catkin_ws$ roslaunch usb_cam usb_cam-test.launch 三 运行最后程序moon@moon-Precision-T1650:~/catkin_ws$ catkin_make Base path: /home/moon/catkin_ws Source space: /home/moon/catkin_ws/src Build space: /home/moon/catkin_ws/build Devel space: /home/moon/catkin_ws/devel Install space: /home/moon/catkin_ws/install Multiple packages found with the same name "usb_cam": - ORB_SLAM2/src/usb_cam-develop - usb_cam-develop moon@moon-Precision-T1650:~/catkin_ws$ catkin_make Base path: /home/moon/catkin_ws Source space: /home/moon/catkin_ws/src Build space: /home/moon/catkin_ws/build Devel space: /home/moon/catkin_ws/devel Install space: /home/moon/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/moon/catkin_ws/build" #### #### #### Running command: "make -j4 -l4" in "/home/moon/catkin_ws/build" #### [ 50%] Built target usb_cam [100%] Built target usb_cam_node moon@moon-Precision-T1650:~/catkin_ws$ cd /etc/ moon@moon-Precision-T1650:/etc$ sudo gedit profile [sudo] passWord for moon: (gedit:13158): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.sessionManager was not provided by any .service files (gedit:13158): Gtk-WARNING **: Calling Inhibit failed: GDBus.Error:org.freedesktop.DBus.Error.ServiceUnknown: The name org.gnome.SessionManager was not provided by any .service files moon@moon-Precision-T1650:/etc$ source /etc/profile moon@moon-Precision-T1650:/etc$ rosrun ORB_SLAM2 Usage: rosrun [--prefix cmd] [--debug] PACKAGE EXECUTABLE [ARGS] rosrun will locate PACKAGE and try to find an executable named EXECUTABLE in the PACKAGE tree. If it finds it, it will run it with ARGS. moon@moon-Precision-T1650:/etc$ rosrun ORB_SLAM2 ORB_SLAM2 [rosrun] Couldn't find executable named ORB_SLAM2 below /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2 [rosrun] Found the following, but they're either not files, [rosrun] or not executable: [rosrun] /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2 moon@moon-Precision-T1650:/etc$ cd /home/moon/ moon@moon-Precision-T1650:~$ ls build CMakeLists.txt ORB_SLAM2 公共的 视频 文档 音乐 catkin_ws opencv Pangolin 模板 图片 下载 桌面 moon@moon-Precision-T1650:~$ cd catkin_ws/ moon@moon-Precision-T1650:~/catkin_ws$ ls build devel src moon@moon-Precision-T1650:~/catkin_ws$ ca cal catkin_find calendar catkin_find_pkg calibrate_ppa catkin_generate_changelog caller catkin_init_workspace canberra-gtk-play catkin_make cancel catkin_make_isolated canonical-certification-server catkin_package_version canonical-driver-test-suite-cli catkin_prepare_release capsh catkin_tag_changelog captoinfo catkin_test_changelog case catkin_test_results cat catkin_topological_order catchsegv catman catkin_create_pkg cautious-launcher moon@moon-Precision-T1650:~/catkin_ws$ ca cal catkin_find calendar catkin_find_pkg calibrate_ppa catkin_generate_changelog caller catkin_init_workspace canberra-gtk-play catkin_make cancel catkin_make_isolated canonical-certification-server catkin_package_version canonical-driver-test-suite-cli catkin_prepare_release capsh catkin_tag_changelog captoinfo catkin_test_changelog case catkin_test_results cat catkin_topological_order catchsegv catman catkin_create_pkg cautious-launcher moon@moon-Precision-T1650:~/catkin_ws$ catkin_make Base path: /home/moon/catkin_ws Source space: /home/moon/catkin_ws/src Build space: /home/moon/catkin_ws/build Devel space: /home/moon/catkin_ws/devel Install space: /home/moon/catkin_ws/install #### #### Running command: "make cmake_check_build_system" in "/home/moon/catkin_ws/build" #### #### #### Running command: "make -j4 -l4" in "/home/moon/catkin_ws/build" #### [ 50%] Built target usb_cam [100%] Built target usb_cam_node moon@moon-Precision-T1650:~/catkin_ws$ catkin_make Base path: /home/moon/catkin_ws Source space: /home/moon/catkin_ws/src Build space: /home/moon/catkin_ws/build Devel space: /home/moon/catkin_ws/devel Install space: /home/moon/catkin_ws/install Invalid package manifest "/home/moon/catkin_ws/src/ORB_SLAM2/package.xml": The manifest must contain exactly one "version" tags moon@moon-Precision-T1650:~/catkin_ws$ catkin_make Base path: /home/moon/catkin_ws Source space: /home/moon/catkin_ws/src Build space: /home/moon/catkin_ws/build Devel space: /home/moon/catkin_ws/devel Install space: /home/moon/catkin_ws/install WARNING: Package name "ORB_SLAM2" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores. Invalid package manifest "/home/moon/catkin_ws/src/ORB_SLAM2/package.xml": Package version "2.0" does not follow version conventions moon@moon-Precision-T1650:~/catkin_ws$ catkin_make Base path: /home/moon/catkin_ws Source space: /home/moon/catkin_ws/src Build space: /home/moon/catkin_ws/build Devel space: /home/moon/catkin_ws/devel Install space: /home/moon/catkin_ws/install #### #### Running command: "cmake /home/moon/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/moon/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/moon/catkin_ws/install -G Unix Makefiles" in "/home/moon/catkin_ws/build" #### -- Using CATKIN_DEVEL_PREFIX: /home/moon/catkin_ws/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/indigo -- This workspace overlays: /opt/ros/indigo -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Call enable_testing() -- Using CATKIN_TEST_RESULTS_DIR: /home/moon/catkin_ws/build/test_results -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.6.18 -- BUILD_SHARED_LIBS is on -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- ~~ traversing 2 packages in topological order: -- ~~ - orb_slam -- ~~ - usb_cam -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -- +++ processing catkin package: 'orb_slam' -- ==> add_subdirectory(ORB_SLAM2) [rosbuild] Building package src [rosbuild] Error from syntax check of src/manifest.xml Traceback (most recent call last): File "<string>", line 1, in <module> File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifest.py", line 139, in parse_file return roslib.manifestlib.parse_file(Manifest(), file) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifestlib.py", line 497, in parse_file raise ValueError("Invalid/non-existent manifest file: %s"%file) ValueError: Invalid/non-existent manifest file: manifest.xml CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:78 (message): [rosbuild] Syntax check of src/manifest.xml failed; aborting Call Stack (most recent call first): /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest) ORB_SLAM2/CMakeLists.txt:4 (rosbuild_init) -- Configuring incomplete, errors occurred! See also "/home/moon/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/moon/catkin_ws/build/CMakeFiles/CMakeError.log". Invoking "cmake" failed moon@moon-Precision-T1650:~/catkin_ws$ ls build devel src moon@moon-Precision-T1650:~/catkin_ws$ cd src/ moon@moon-Precision-T1650:~/catkin_ws/src$ ls CMakeLists.txt ORB_SLAM2 usb_cam-develop moon@moon-Precision-T1650:~/catkin_ws/src$ cd ORB_SLAM2/ moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls CMakeLists.txt manifest.xml~ package.xml package.xml~ src moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ rm manifest.xml~ moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd src/ moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ ls ros_mono.cc ros_rgbd.cc ros_stereo.cc moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ ls ros_mono.cc ros_rgbd.cc ros_stereo.cc moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/src$ cd .. moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls CMakeLists.txt package.xml package.xml~ src moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls CMakeLists.txt package.xml package.xml~ src moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ mkdir build moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ ls build CMakeLists.txt package.xml package.xml~ src moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd build/ moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release -- The C compiler identification is GNU 4.8.4 -- The CXX compiler identification is GNU 4.8.4 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Found PythonInterp: /usr/bin/python (found version "2.7.6") [rosbuild] Building package ORB_SLAM2 [rosbuild] Error from syntax check of ORB_SLAM2/manifest.xml Traceback (most recent call last): File "<string>", line 1, in <module> File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifest.py", line 139, in parse_file return roslib.manifestlib.parse_file(Manifest(), file) File "/opt/ros/indigo/lib/python2.7/dist-packages/roslib/manifestlib.py", line 497, in parse_file raise ValueError("Invalid/non-existent manifest file: %s"%file) ValueError: Invalid/non-existent manifest file: manifest.xml CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:78 (message): [rosbuild] Syntax check of ORB_SLAM2/manifest.xml failed; aborting Call Stack (most recent call first): /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:174 (_rosbuild_check_manifest) CMakeLists.txt:4 (rosbuild_init) -- Configuring incomplete, errors occurred! See also "/home/moon/catkin_ws/src/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log". moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ ^C moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release [rosbuild] Building package ORB_SLAM2 [rosbuild] Error from directory check: /opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /home/moon/catkin_ws/src/ORB_SLAM2 1 Traceback (most recent call last): File "/opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py", line 48, in <module> raise Exception Exception CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:102 (message): [rosbuild] rospack found package "ORB_SLAM2" at "/home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2", but the current directory is "/home/moon/catkin_ws/src/ORB_SLAM2". You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order. Call Stack (most recent call first): /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location) CMakeLists.txt:4 (rosbuild_init) -- Configuring incomplete, errors occurred! See also "/home/moon/catkin_ws/src/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log". moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2/build$ cd .. moon@moon-Precision-T1650:~/catkin_ws/src/ORB_SLAM2$ cd .. moon@moon-Precision-T1650:~/catkin_ws/src$ cd .. moon@moon-Precision-T1650:~/catkin_ws$ ls build devel src moon@moon-Precision-T1650:~/catkin_ws$ cd .. moon@moon-Precision-T1650:~$ ls build catkin_ws CMakeLists.txt opencv ORB_SLAM2 Pangolin 公共的 模板 视频 图片 文档 下载 音乐 桌面 moon@moon-Precision-T1650:~$ cd ORB_SLAM2/ moon@moon-Precision-T1650:~/ORB_SLAM2$ ls build CMakeLists.txt Dependencies.md include License-gpl.txt README.md Thirdparty build.sh cmake_modules Examples lib LICENSE.txt src Vocabulary moon@moon-Precision-T1650:~/ORB_SLAM2$ cd Examples/ moon@moon-Precision-T1650:~/ORB_SLAM2/Examples$ ls Monocular RGB-D ROS Stereo moon@moon-Precision-T1650:~/ORB_SLAM2/Examples$ cd ROS/ moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS$ ls ORB_SLAM2 moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS$ cd ORB_SLAM2/ moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls CMakeLists.txt manifest.xml src moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ cd src/ moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src$ cd .. moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls CMakeLists.txt manifest.xml src moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ mkdir build moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ cd build/ moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cmake .. -DROS_BUILD_TYPE=Release -- The C compiler identification is GNU 4.8.4 -- The CXX compiler identification is GNU 4.8.4 -- Check for working C compiler: /usr/bin/cc -- Check for working C compiler: /usr/bin/cc -- works -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ -- Check for working CXX compiler: /usr/bin/c++ -- works -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Found PythonInterp: /usr/bin/python (found version "2.7.6") [rosbuild] Building package ORB_SLAM2 [rosbuild] Cached build flags older than manifests; calling rospack to get flags -- Using CATKIN_DEVEL_PREFIX: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel -- Using CMAKE_PREFIX_PATH: /opt/ros/indigo -- This workspace overlays: /opt/ros/indigo -- Using PYTHON_EXECUTABLE: /usr/bin/python -- Using Debian Python package layout -- Using empy: /usr/bin/empy -- Using CATKIN_ENABLE_TESTING: ON -- Skip enable_testing() for dry packages -- Using CATKIN_TEST_RESULTS_DIR: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results -- Looking for include file pthread.h -- Looking for include file pthread.h - found -- Looking for pthread_create -- Looking for pthread_create - not found -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE -- Found gtest sources under '/usr/src/gtest': gtests will be built -- Using Python nosetests: /usr/bin/nosetests-2.7 -- catkin 0.6.18 [rosbuild] using multiarch 'i386-linux-gnu' for finding Boost -- Using these message generators: gencpp;genlisp;genpy [rosbuild] Including /opt/ros/indigo/share/roslisp/rosbuild/roslisp.cmake [rosbuild] Including /opt/ros/indigo/share/roscpp/rosbuild/roscpp.cmake [rosbuild] Including /opt/ros/indigo/share/rospy/rosbuild/rospy.cmake Build type: Release -- Performing Test COMPILER_SUPPORTS_CXX11 -- Performing Test COMPILER_SUPPORTS_CXX11 - Success -- Performing Test COMPILER_SUPPORTS_CXX0X -- Performing Test COMPILER_SUPPORTS_CXX0X - Success -- Using flag -std=c++11. -- Found Eigen3: /usr/include/eigen3 (Required is at least version "3.1.0") -- Configuring done -- Generating done -- Build files have been written to: /home/moon/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ make -j Scanning dependencies of target rospack_genmsg_libexe [ 0%] Built target rospack_genmsg_libexe Scanning dependencies of target rosbuild_precompile [ 0%] Built target rosbuild_precompile Scanning dependencies of target Stereo Scanning dependencies of target RGBD Scanning dependencies of target Mono [ 33%] Building CXX object CMakeFiles/Mono.dir/src/ros_mono.cc.o [ 66%] [100%] Building CXX object CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o Building CXX object CMakeFiles/Stereo.dir/src/ros_stereo.cc.o Linking CXX executable ../Mono [100%] Built target Mono Linking CXX executable ../RGBD [100%] Built target RGBD Linking CXX executable ../Stereo [100%] Built target Stereo moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ ls catkin catkin_generated CATKIN_IGNORE CMakeCache.txt CMakeFiles cmake_install.cmake devel gtest Makefile test_results moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cd test_results/ moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results$ ls moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results$ cd .. moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ ls catkin catkin_generated CATKIN_IGNORE CMakeCache.txt CMakeFiles cmake_install.cmake devel gtest Makefile test_results moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ cd .. moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ ls build CMakeLists.txt lib manifest.xml Mono RGBD src Stereo moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 Mono RGBD Stereo moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 Mono Usage: rosrun ORB_SLAM2 Mono path_to_vocabulary path_to_settings moon@moon-Precision-T1650:~/ORB_SLAM2/Examples/ROS/ORB_SLAM2$ rosrun ORB_SLAM2 Mono /home/moon/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/moon/ORB_SLAM2/Examples/Monocular/TUM1.yaml ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt. Input sensor was set to: Monocular Loading ORB Vocabulary. This could take a while... Vocabulary loaded! Camera Parameters: - fx: 517.306 - fy: 516.469 - cx: 318.643 - cy: 255.314 - k1: 0.262383 - k2: -0.953104 - k3: 1.16331 - p1: -0.005358 - p2: 0.002628 - fps: 30 - color order: RGB (ignored if grayscale) ORB Extractor Parameters: - Number of Features: 1000 - Scale Levels: 8 - Scale Factor: 1.2 - Initial Fast Threshold: 20 - Minimum Fast Threshold: 7 New Map created with 129 points Local Mapping STOP Local Mapping RELEASE Local Mapping STOP Local Mapping RELEASE Local Mapping STOP :qw w cd .. cd[ WARN] [1479909888.941469911]: Shutdown request received. [ WARN] [1479909888.941526443]: Reason given for shutdown: [new node registered with same name] Saving keyframe trajectory to KeyFrameTrajectory.txt ... trajectory saved!新闻热点
疑难解答
