Jetson AGX Xavier部署ORB_SLAM2（ROS）
1. 修改CMakeLists.txt
Examples/ROS/ORB_SLAM2下的CMakeLists.txt
原
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
)
添加-lboost_system
修改后
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
)
2. 添加头文件
Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc添加头文件#include <unistd.h>
3. 编译
./build_ros.sh
完成后就部署好了。
版权声明：本文为gloria-zhang原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。