1995YogeshSharma/ORB_SLAM_install_tips.md

## ORB_SLAM_install_tips.md

      
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              ORB_SLAM_install_tips.md
            
          
    To install opencv-2.4.13, follow instructions from here - https://gist.github.com/dynamicguy/3d1fce8dae65e765f7c4
To install ROS kinectic, make sure you follow the instructions at least till 1.7 from here -
ROS kinectic
Follow the main instructions of ORB installation from here - official repo.
Here are few pointers to take into consideration if you get stuck -

1.) You have to change ORB_SLAM/manifest.xml and remove the line containing <depend package=opencv..
2.) You have to change ORB_SLAM/src/ORBextracter.cc and include the line #include <opencv2/opencv.hpp> in the beginning of file along which other includes.
2.) If you get error regarding QT5 while building DBoW2 - Add
find_package(Qt5Core)
find_package(Qt5Widgets)
find_package(Qt5Concurrent)
find_package(Qt5OpenGL)
find_package(Qt5Test)

After project(DBoW2) line in CMakeLists.txt.
If you don't have qt5 install these using.
sudo apt-get install qt5-default
2.) If you face error regarding Eigen while making ORB -
change here SparseMatrix::Index to int.
Re-build g2o and then build ORB.
3.) _If you face error regarding boost while making ORB Undefined reference to symbol 'ZN5boost6system15system_categoryEv' -
change the ORB_SLAM/CMakeLists.txt, add -
find_package(Boost COMPONENTS system filesystem REQUIRED)

below the line find_package(Eigen3 REQUIRED)
Then change target_link_libraries... in the end to
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Boost_FILESYSTEM_LIBRARY}
${Boost_SYSTEM_LIBRARY}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)

Then re-build ORB-SLAM