ORB SLAM2 Run configuration on Ubuntu 16.04

Install dependent installation OpenGL

1. Installing the OpenGL Library
$sudo Apt-get Install Libgl1-mesa-dev
2. Install OpenGL Utility
$sudo Apt-get Install Libglu1-mesa-dev
3. Install OpenGL Utility Toolkit
$sudo Apt-get Install Freeglut3-dev

Installing Glew

$sudo Apt-get Install Libglew-dev

Install boost

$sudo apt-get Install Libboost-dev Libboost-thread-dev Libboost-filesystem-dev

Install the build base library

$sudo Apt-get Install Build-essential

Installing Pangolin

1. Download Link: Https://github.com/stevenlovegrove/Pangolin
Note: You can use Git for clone, or you can directly download zip

2. Compiling the installation steps
$CD Pangolin
$mkdir Build
$CD Build
$cmake:
$make
$sudo make Install
$make doc (Generate document)

Installing OPENCV

Required dependencies: sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev Libswscale-dev
Optional dependencies: sudo apt-get install Python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev Libtiff-dev Libjasper-dev Lib Dc1394-22-dev
SOURCE Download Link: http://opencv.org/downloads.html (select 2.4.xx,3.x.xx version can be, the new version of the ORBSLAM2 has been supported OpenCV3.xx.xx)
Compile the installation steps (take opencv2.4.xx as an example):
$CD opencv-2.4.xx
$mkdir Build
$CD Build
$cmake:
$make
$sudo make Install

Installing Eigen3

Source: Http://eigen.tuxfamily.org/index.php?title=Main_Page
Installation dependency: sudo apt-get install Libxmu-dev Libxi-dev
To compile the installation steps:
$CD Eigen
$mkdir Build
$CD Build
$cmake:
$make
$sudo make Install

Installing Blas and LAPACK libraries

sudo apt-get install Libblas-dev
sudo apt-get install Liblapack-dev

Compile The Orb SLAM21. Download source code

git clone https://github.com/raulmur/ORB_SLAM2.git orb_slam2

2. Compiling

$CD orb_slam2
$chmod +x build.sh
$./build.sh

3.16.04 on Compile Error resolution 1) OPENCV not found

Error message:

Configuring and Building Thirdparty/dbow2 ...
Mkdir:cannot Create directory ' build ': File exists
--OpenCV ARCH:
--OpenCV RUNTIME:
--OpenCV Static:off
CMake Warning at/home/melanie/tools/opencv-2.4.13/cmake/opencvconfig.cmake:163 (message):
Found OpenCV Windows Pack But it had not binaries compatible with your
Configuration.

Should manually point CMake variable opencv_dir to your build of OpenCV
Library.
Call Stack (most recent call first):
Cmakelists.txt:27 (Find_package)

CMake Error at Cmakelists.txt:27 (find_package):
Found Package configuration file:

/home/melanie/tools/opencv-2.4.13/cmake/opencvconfig.cmake

But it set opencv_found-to-FALSE so the package "OpenCV" was considered to be
Not FOUND.

--Configuring incomplete, Errors occurred!
See also "/home/melanie/source/smartcar/orm_slam2/orb_slam2/thirdparty/dbow2/build/cmakefiles/cmakeoutput.log".
Make: * * * No targets specified and no makefile found. Stop.

Solution:
Because my OpenCV the path that is installed by the source code compiles the default is the/usr/local/share/opencv/, so here manually assigns the OpenCV path to the CMake
Modify the build.sh as follows:
CD Thirdparty/dbow2
mkdir Build
CD Build
CMake. -dcmake_build_type=release -dopencv_dir=/usr/local/share/opencv/
Make

2) Forced type conversion problem

Error message:

/home/melanie/tools/eigen/eigen/src/core/assignevaluator.h:817:3: Error:static Assertion Failed:you_mixed_ different_numeric_types__you_need_to_use_the_cast_method_of_matrixbase_to_cast_numeric_types_explicitly
Eigen_check_binary_compatibiliy (Func,typename actualdsttypecleaned::scalar,typename Src::Scalar);
^
Cmakefiles/orb_slam2.dir/build.make:350:recipe for Target ' CMAKEFILES/ORB_SLAM2.DIR/SRC/OPTIMIZER.CC.O ' failed
MAKE[2]: * * * [CMAKEFILES/ORB_SLAM2.DIR/SRC/OPTIMIZER.CC.O] Error 1
Cmakefiles/makefile2:178:recipe for Target ' Cmakefiles/orb_slam2.dir/all ' failed
MAKE[1]: * * * [Cmakefiles/orb_slam2.dir/all] Error 2
Makefile:83:recipe for target ' all ' failed
Make: * * * [ALL] Error 2

Solution:

Open Thirdparty/g2o/g2o/solvers/linear_solver_eigen.h, and the following code
Template <typename matrixtype>
Class Linearsolvereigen:public Linearsolver<matrixtype>
{
Public
typedef eigen::sparsematrix<double, eigen::colmajor> Sparsematrix;
typedef eigen::triplet<double> Triplet;
typedef Eigen::P Ermutationmatrix<eigen::D ynamic, Eigen::D ynamic, sparsematrix::index> Permutationmatrix;

Modified to:

Template <typename matrixtype>
Class Linearsolvereigen:public Linearsolver<matrixtype>
{
Public
typedef eigen::sparsematrix<double, eigen::colmajor> Sparsematrix;
typedef eigen::triplet<double> Triplet;
typedef Eigen::P Ermutationmatrix<eigen::D ynamic, Eigen::D ynamic, int> Permutationmatrix;

3) Usleep Not defined:

Error message:

/home/melanie/source/smartcar/orm_slam2/orb_slam2/src/viewer.cc:159:28:error: ' Usleep ' is not declared in this scope
Usleep (3000);
^
Cmakefiles/orb_slam2.dir/build.make:494:recipe for Target ' CMAKEFILES/ORB_SLAM2.DIR/SRC/VIEWER.CC.O ' failed
MAKE[2]: * * * [CMAKEFILES/ORB_SLAM2.DIR/SRC/VIEWER.CC.O] Error 1
Cmakefiles/makefile2:178:recipe for Target ' Cmakefiles/orb_slam2.dir/all ' failed
MAKE[1]: * * * [Cmakefiles/orb_slam2.dir/all] Error 2
Makefile:83:recipe for target ' all ' failed
Make: * * * [ALL] Error 2

Solution:

Add include at the beginning of the source file
#include <unistd.h>

Files that require additional unistd.h are:
examples/monocular/mono_euroc.cc
examples/monocular/mono_kitti.cc
examples/monocular/mono_tum.cc
examples/rgb-d/rgbd_tum.cc
examples/stereo/stereo_euroc.cc
examples/stereo/stereo_kitti.cc
src/localmapping.cc
src/loopclosing.cc
src/system.cc
src/tracking.cc
src/viewer.cc

4) Cuda Error

Cuda-related errors occur when a Cuda-installed machine is compiled, and the modified build.sh are as follows:
CD Thirdparty/dbow2
mkdir Build
CD Build
CMake. -dcmake_build_type=release-dopencv_dir=/usr/local/share/opencv/ -dcuda_use_static_cuda_runtime=off
Make-j
......
echo "Configuring and building Orb_slam2 ..."

mkdir Build
CD Build
-cmake. -dcmake_build_type=release
+cmake. -dcmake_build_type=release -dcuda_use_static_cuda_runtime=off
Make-j

ORB SLAM2 Run configuration on Ubuntu 16.04