Ubuntu18.04安装OpenREALM

Ubuntu18.04+ros-melodic

（有openvslam、cmake-3.18.1、Eigen3、g2o、opencv、OpenREALM、Pangolin、OpenREALM_ROS1_Bridge）
1、https://github.com/laxnpander/OpenREALM_ROS1_Bridge
根据里面步骤使用脚本安装
cmake可以先用着原始的，后面再下载3.18.1
opencv（编译opencv的时候会报错如下）
error: ‘glBindAttribLocation’ was not declared in this scope glBindAttribLocation(prog, DEFAULT_LOCATION_POSITION, DEFAULT_NAME_POSITION);
需要安装Pangolin0.5，不要直接在官网下载，因为默认版本是最新的。
链接：https://pan.baidu.com/s/1jhwouKcWJwe4ig33GIj_nA 
提取码：0000

cd Pangolin 
mkdir build 
cd build 
cmake .. 
make 
sudo make install

make[2]: *** [modules/python3/CMakeFiles/opencv_python3.dir/build.make:56...

找到报错路径的cv2.cpp文件，一般路径为/opencv/modules/python/src2/，修改成

char* str = (char *)PyString_AsString(obj);

2、https://github.com/laxnpander/OpenREALM
按照里面步骤完成刚g2o、openvslam安装
完成后需要编译安装OpenREALM，cmake -DTESTS_ENABLED=ON ..时会出现一些报错，但是我没有管，再次cmake就没有报错并成功安装。
3、按照第二步的网址创建工作空间，并git clone “OpenREALM_ROS1_Bridge”，再进行catkin_make -DCMAKE_BUILD_TYPE=Release。（注意会有以下报错）
Target "realm_ros" links to target "fbow::fbow" but the target was not found. Perhaps a find_package() call is missing for an IMPORTED target, or an ALIAS target is missing?
根据报错找出该项目的cmakelist，加入

find_package(fbow REQUIRED)

Target "realm_exiv2_grabber" links to target "Boost::filesystem" but the target was not found. Perhaps a find_package() call is missing for an IMPORTED target, or an ALIAS target is missing?
根据报错找出该项目的cmakelist，找出target_link_libraries(...)

target_link_libraries（${PROJECTNAME} PUBLIC
${catkin_LIBRARIES}
${cmake_modules_LIBRARIES}
${OpenCV_LIBRARIES}
${Boost_FILESYSTEM_LIBRARIES} 
${Boost_SYSTEM_LIBRARIES}
realm_stages
)

就可以成功cmake了

在运行数据集的时候，因为作者是分开安装依赖和Bridge，所以可能会链接不上g2o的.so，如( error while loading shared libraries: libg2o_csparse_extension.so: cannot open shared object file: No such file or directory)。

解决方法：

sudo gedit /etc/ld.so.conf

加上

/usr/local/lib

并

sudo ldconfig

再次运行launch文件即可。