ORB-SLAM2构建稠密地图
参考如下链接：
orbslam2详细
编译过程问题：
1、orbslam2 编译1
build.sh
将j1改为j2可以避免卡死
make -j2
2、build_ros.sh
/usr/bin/ld: CMakeFiles/RGBD.dir/src/.o: undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command linecollect2: error: ld returned 1 exit statusCMakeFiles/RGBD.dir/build.make:218: recipe for target ‘…/RGBD’ failedmake[2]: *** […/RGBD] Error 1CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/RGBD.dir/all’ failedmake[1]: *** [CMakeFiles/RGBD.dir/all] Error 2make[1]: *** 正在等待未完成的任务…/usr/bin/ld: CMakeFiles/Stereo.dir/src/.o: undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command linecollect2: error: ld returned 1 exit statusCMakeFiles/Stereo.dir/build.make:218: recipe for target ‘…/Stereo’ failedmake[2]: *** […/Stereo] Error 1CMakeFiles/Makefile2:104: recipe for target ‘CMakeFiles/Stereo.dir/all’ failedmake[1]: *** [CMakeFiles/Stereo.dir/all] Error 2Makefile:127: recipe for target ‘all’ failedmake: *** [all] Error 2
```更改cmake加上一行-lboost_system set(LIBS ${OpenCV_LIBS} ${EIGEN3_LIBS} ${Pangolin_LIBRARIES} ${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so ${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so -lboost_system )
3、稠密地图
需要将点云保存路径更改为自己的路径
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