ORB_SLAM2 windows配置
ORB_SLAM2的下载地址 https://github.com/raulmur/ORB_SLAM2.git
软件环境
- VS Visual Studio Community 2019
- cmake 3.15.1
需要用到的库
- opencv 2.4.13
- g2o 默认的
- DBoW2 默认的
- eigen 3.3.7
- Pangolin 最新的
编译顺序
1 opencv
2 DBoW2
3 g2o
4 Pangolin
5 ORB_SLAM2
opencv 的编译
opencv的编译比较简单,把编译不过的注释掉就OK了
DBoW2的编译
由于是在windows上编译,需要注释掉RB_SLAM2\Thirdparty\DBoW2\DBoW2\FORB.cpp
//#include <stdint-gcc.h>
[外链图片转存失败(img-QlYFh7Jo-1566053711585)(./DBoW2.png)]修改CmakeList.txt
g2o的编译
需要修改
105 solverNameColumnLength = std::max(solverNameColumnLength, (