1. 安装C++11编译器
ORB_SLAM2使用了C++11的线程和时间控制函数。
$sudo apt-get install gcc g++
2.安装Pangolin
ORB_SLAM2使用 Pangolin 构建可视化用户界面. 参见https://github.com/stevenlovegrove/Pangolin.
$ sudo apt-get install libglew-dev #安装Glew $ sudo apt-get install cmake #安装CMake #安装Boost $ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev $ sudo apt-get install libpython2.7-dev #安装Python2 / Python3 #下载、编译、安装Pangolin: $ git clone https://github.com/stevenlovegrove/Pangolin.git $ cd Pangolin $ mkdir build $ cd build $ cmake -DCPP11_NO_BOOST=1 .. $ make $ sudo make install
3. 安装OpenCV 2.4.13
ORB_SLAM2使用OpenCV处理图像以及特征. 参见: http://opencv.org/downloads.htm. 至少需要 2.4.3 的版本. 本测试用 OpenCV 2.4.13. (注:OpenCV 2.4.11与cuda 8.0不兼容,若需要GPU加速(使用cuda8.0,cuda8.0以前的版本不支持GTX1080),则需要安装OpenCV 2.4.13)
$ sudo apt-get install build-essential libgtk2.0-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev cmake python-dev python-numpy python-tk libtbb-dev libeigen2-dev yasm libfaac-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev libx264-dev libqt4-dev libqt4-opengl-dev sphinx-common texlive-latex-extra libv4l-dev libdc1394-22-dev libavcodec-dev libavformat-dev li