docker运行ORB-SLAM3

原创已于 2025-08-20 01:35:25 修改 · 466 阅读

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GEO检测

于 2025-02-24 23:26:01 首次发布

退出conda环境

1. 下载Pangolin库

安装依赖出现问题E: Unable to locate package libglew-dev

sudo apt-get update

2.编译ros

sudo gedit ~/.bashrc

echo 'export ROS_PACKAGE_PATH=/home/a/camera/ORB_SLAM/Examples_old/ROS/ORB_SLAM3:$ROS_PACKAGE_PATH' >> ~/.bashrc
source ~/.bashrc

source ~/.bashrc
chmod +x build_ros.sh
./build_ros.sh

3.报错：fatal error: sophus/se3.hpp: No such file or directory

打开/orb_slam3/Examples_old/ROS/ORB_SLAM3/CMakeLists.txt
第49行加入
${PROJECT_SOURCE_DIR}/../../../Thirdparty/Sophus

4. error: conversion from ‘Eigen::Vector3f {aka Eigen::Matrix<float, 3, 1>}’ to non-scalar type ‘cv::Mat’ requested cv::Mat Xw = pMP->GetWorldPos();

参考此文：

https://blog.csdn.net/qq_44164791/article/details/132608190?spm=1001.2014.3001.5501

5. bash: catkin_make: command not found

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc

source ~/.bashrc

catkin_make

6.运行示例命令（ORB-SLAM3目录下建立dataset/V102）

./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml ./dataset/V102 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi

7.运行ros

gedit ~/.bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/root/local_container_2/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3

source ~/.bashrc

rosrun ORB_SLAM3 Mono /root/local_container_2/ORB_SLAM3/Vocabulary/ORBvoc.txt /root/local_container_2/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/Asus.yaml

rosrun ORB_SLAM3 Mono /root/docker_local_ORB/ORB_SLAM/Vocabulary/ORBvoc.txt /root/docker_local_ORB/ORB_SLAM/Examples_old/ROS/ORB_SLAM3/Asus.yaml

rosrun ORB_SLAM3 Mono /home/a/camera/ORB_SLAM/Vocabulary/ORBvoc.txt /home/a/camera/ORB_SLAM/Examples_old/ROS/ORB_SLAM3/Asus.yaml

rosrun ORB_SLAM3 zed2i /home/a/camera/ORB_SLAM/Vocabulary/ORBvoc.txt /home/a/camera/ORB_SLAM/Examples_old/ROS/ORB_SLAM3/ros_zed2i.yaml false

上述命令都在一个容器终端里运行

8.运行./build_ros.bashrc报错

已经反复添加了ROS_PACKAGE_PATH，但是始终 You should double-check your ROS_PACKAGE_PATH to ensure that packages are found in the correct precedence order.

[rosbuild] Building package ORB_SLAM3 Failed to invoke /opt/ros/melodic/bin/rospack deps-manifests ORB_SLAM3 [rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update

如果直接进行source /opt/ros/melodic/setup.bash则会覆盖掉错误，无效运行./build_ros.bashrc

sudo apt-get update

sudo apt-get install python-pip

sudo pip install rosdepc

# 初始化 rosdep（仅需执行一次）
sudo rosdepc init

# 更新 rosdep 数据库（每次更新依赖前建议运行）
rosdepc update

cd /root/docker_local_ORB/ORB_SLAM3

# 安装缺失的依赖（在 ORB_SLAM3 目录下运行）
rosdepc install --from-paths src --ignore-src -y

./build_ros.sh

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