软件版本

Pangolin	0.6
opencv	3.4.0
ORB SLAM2

编译

# 更改Opencv依赖版本与添加Pangolin依赖
# CMakelist.txt更改
LIST(APPEND CMAKE_PREFIX_PATH /usr/local/opencv-3.4) # 添加
LIST(APPEND CMAKE_PREFIX_PATH /usr/local/Pangolin-0.6) # 添加
find_package(OpenCV 3 QUIET) # 更改# Thirdparty/DBoW2/CMakeLists.txt
LIST(APPEND CMAKE_PREFIX_PATH /usr/local/opencv-3.4) # 添加
find_package(OpenCV 3 QUIET) # 更改

编译

自动编译

./build.sh

手动编译

# 编译
cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -jcd ../../g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -jcd ../../../
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

运行

./Examples/RGB-D/rgbd_tum ./Vocabulary/ORBvoc.txt ./Examples/RGB-D/TUM1.yaml /mnt/hgfs/SharedFolders/DataSets/rgbd_dataset_freiburg1_xyz /mnt/hgfs/SharedFolders/DataSets/rgbd_dataset_freiburg1_xyz/assoc.txt

结果

运行截图

轨迹分析

python	3.0.12
evo	1.26.0

轨迹保存在当前文件夹下的CameraTrajectory.txt中，如果想对结果分析，可以采用以下代码。

evo_traj tum CameraTrajectory.txt /mnt/hgfs/SharedFolders/DataSets/rgbd_dataset_freiburg1_xyz/groundtruth.txt --ref=/mnt/hgfs/SharedFolders/DataSets/rgbd_dataset_freiburg1_xyz/groundtruth.txt -p -s --align_origin -a --plot_mode=xyz --save_plot=result

不仅仅可以用evo_traj , 还有evo_ape，evo_rpe。自己查找教程使用。