ORB-SLAM3 Ubuntu18.04配置记录

以下是参考的博客
https://blog.csdn.net/hhz_999/article/details/120473659

https://www.cnblogs.com/Raowz/p/15109975.html

https://blog.csdn.net/qq_39247667/article/details/116707889?spm=1001.2101.3001.6650.1&utm_medium=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.no_search_link&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2%7Edefault%7ECTRLIST%7Edefault-1.no_search_link&utm_relevant_index=2

1、换源，安装相关库和依赖项
2、修改.bash文件

echo "Configuring and building Thirdparty/DBoW2 ..."

cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

cd ../../g2o

echo "Configuring and building Thirdparty/g2o ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

cd ../../Sophus

echo "Configuring and building Thirdparty/Sophus ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

cd ../../../

echo "Uncompress vocabulary ..."

cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..

echo "Configuring and building ORB_SLAM3 ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

3、由于我安装过程中提示缺了依赖性，我安装了相关依赖项

sudo apt install libssl-dev

4、我用的opencv3.4.13，所有我修改了CmakeLists.txt，find_package(OpenCV 3 REQUIRED)

5、由于我用的是Eigen3.1.0，所有我在用到Eigen的CmakeLists.txt修改了Eigen的版本号
6、成功编译完成

Failed to load image at: /home/feng/MH_02_easy/mav0/cam0/data/140363685865166643.png
参考
测试：
./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml /home/yz2qmq/ORB_SLAM3/V1_01_easy/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml “$pathDatasetEuroc”/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono