Code：https://github.com/shichaoy/cube_slam
Notes：本文描述笔者再Ubuntu18.04安装Cube-SLAM遇到的相关问题和解决方法。
配置相关问题或者Object SLAM相关科研问题欢迎通过邮件联系笔者交流：lidong8421bcd@gmail.com（基本保证两个工作日内回复邮件）
配置过程 1.环境配置ROS环境配置：
mkdir -p ~/catkin_ws_Cube-SLAM/src cd catkin_ws_Cube-SLAM/src/ catkin_init_workspace cd .. catkin_make source devel/setup.sh catkin_make install echo "source ~/catkin_ws_Cube-SLAM/devel/setup.bash" >> ~/.bashrc
代码下载：
cd src/ git clone https://github.com/shichaoy/cube_slam.git2.代码编译
编译依赖项：
cd cube-slam/ sh install_dependenices.sh
编译工作空间：
cd ../.. catkin_make -j4
catkin_ws_Cube-SLAM/src/cube_slam/detect_3d_cuboid/src/ 下面文件报错如下：
error: ‘std::vector’ has not been declared error: expected ‘,’ or ‘...’ before ‘<’ token error: ‘all_strings’ was not declared in this scope
分析：看github的issue，这个问题是Ubuntu18.04编译经常会出现的问题。
解决方法：
-
1 ：在功能包的CMAKELIST中添加 set(CMAKE_CXX_STANDARD 14)，在几个C++文件中添加：#include
， error: ‘iota’ is not a member of ‘std’ 报错问题没了 -
2：在以下几个文件中添加：#include
相关报错问题解决
catkin_ws_Cube-SLAM/src/cube_slam/detect_3d_cuboid/src/box_proposal_detail.cpp catkin_ws_Cube-SLAM/src/cube_slam/detect_3d_cuboid/src/object_3d_util.cpp catkin_ws_Cube-SLAM/src/cube_slam/detect_3d_cuboid/src/matrix_utils.cpp catkin_ws_Cube-SLAM/src/cube_slam/detect_3d_cuboid/include/detect_3d_cuboid/detect_3d_cuboid.h catkin_ws_Cube-SLAM/src/cube_slam/detect_3d_cuboid/include/detect_3d_cuboid/matrix_utils.h catkin_ws_Cube-SLAM/src/cube_slam/detect_3d_cuboid/include/detect_3d_cuboid/object_3d_util.h
- 3 ：orb_object_slam下C++文件报错：error: ‘usleep’ was not declared in this scope，经典ORB-SLAM2报错问题
解决方法：在相关报错的文件上加入头文件 #include
#以下文件要添加#includecatkin_ws_Cube-SLAM/src/cube_slam/orb_object_slam/src/LocalMapping.cc catkin_ws_Cube-SLAM/src/cube_slam/orb_object_slam/src/LoopClosing.cc catkin_ws_Cube-SLAM/src/cube_slam/orb_object_slam/src/System.cc catkin_ws_Cube-SLAM/src/cube_slam/orb_object_slam/src/Viewer.cc
完成之后编译成功。
运行：roslaunch object_slam object_slam_example.launch
demo可以正常跑。
3.数据集下载这里因为作者使用的数据集有格式要求，暂且使用作者给的两个数据集（作者处理好了相关格式），后续会自己制作数据集测试。 这里作者给了两个数据集，分别对应静态情况和动态情况。
（1）Static datasets
- 在https://drive.google.com/open?id=1FrBdmYxrrM6XeBe_vIXCuBTfZeCMgApL链接上下载，数据集名字为：Seq_07
（2）Dynamic datasets
- 在 https://drive.google.com/drive/folders/1T2PmK3Xt5Bq9Z7UhV8FythvramqhOo0a?usp=sharing下载，数据集名字为：0018
这里我将两个数据集解压之后放到该路径下：catkin_ws_Cube-SLAM/src/cube_slam/Datasets
4.设置路径启动代码（1）跑Static datasets
-
这里需要先将mono.launch文件中 中的路径修改为自己数据集的路径，我这里修改为：/home/cvpr/catkin_ws_Cube-SLAM/src/cube_slam/Datasets/seq_07-20220720T061819Z-001/seq_07
-
然后报错如下：
Loading ORB Vocabulary. This could take a while... terminate called after throwing an instance of 'std::bad_alloc' what(): std::bad_alloc [ros_mono-3] process has died [pid 1257, exit code -6, cmd /home/cvpr/catkin_ws_Cube-SLAM/devel/lib/orb_object_slam/ros_mono /home/cvpr/catkin_ws_Cube-SLAM/src/cube_slam/orb_object_slam/Vocabulary/ORBvoc.bin /home/cvpr/catkin_ws_Cube-SLAM/src/cube_slam/orb_object_slam/Examples/Monocular/KITTI04-12_me.yaml /camera/image_raw:=/kitti/left/image_raw __name:=ros_mono __log:=/home/cvpr/.ros/log/48a4443c-07f6-11ed-a895-74ee2aeddddc/ros_mono-3.log]. log file: /home/cvpr/.ros/log/48a4443c-07f6-11ed-a895-74ee2aeddddc/ros_mono-3*.log
这里是词袋文件的问题，即mono.launch中 args="$(find orb_object_slam)/Vocabulary/ORBvoc.bin 并没有找到这个文件；
解决方法：这里 cube_slam/orb_object_slam/Vocabulary 提供了将txt词袋转换为二进制的bin词袋的代码。这里我使用这个代码进行词袋转换有点问题，索性就直接下载了一个二进制词袋：https://github.com/nxyzgf/sgg-dbow2/blob/master/ORBvoc.bin
- 运行时，仍然报错：Gtk-ERROR **: 04:42:33.691: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported；这里这应该是linux系统同时安装了GTK+ 2.x 和 GTK+ 3导致的，参考:https://blog.csdn.net/weixin_39768247/article/details/111855987/，卸载opencv之后又重新装一边，同时将ROS的workspace中的build和devel删除重新编译。
运行：roslaunch orb_object_slam mono.launch 正常。
然后跑ROS的bag数据集：rosbag play left_full_gray.bag
（2）跑Dynamic datasets
- 先修改mono_dynamic.launch文件：将文件中 改为自己数据集的地址：/home/cvpr/catkin_ws_Cube-SLAM/src/cube_slam/Datasets/0018-20220720T062223Z-001/0018 即可
运行：
roslaunch orb_object_slam mono_dynamic.launch rosbag play mono.bag
效果如下：
