Ubuntu18.04 orbslam2环境配置

1.安装完ubuntu后换源

2.下载常用工具

sudo apt install git htop vim terminator gcc g++ cmake

3.下载vscode（注意不要下最新版，1.84能用）

cd到下载目录

sudo dpkg -i code......(tab补全)

4.一键安装ROS

参考：ros安装（一键最简安装，吹爆鱼香ROS，请叫我鱼吹）_一键安装ros-CSDN博客

5.配置orbslam2环境

5.1安装eigen3

sudo apt-get install libeigen3-dev

5.2安装pangolin0.5

安装依赖

sudo apt-get install libglew-dev libpython2.7-dev
sudo apt-get install libxkbcommon-x11-dev

 clone地址：https://github.com/stevenlovegrove/Pangolin

 下载0.5版本

 把下载解压好的文件放入主目录，执行安装和编译

cd Pangolin
mkdir build 
cd build
cmake ..
make -j4
sudo make install

 测试：

cd /home/xxx/Pangolin/examples/HelloPangolin
mkdir build && cd build
cmake ..
make
./HelloPangolin

出现三色正方体则成功

5.4安装opencv3

一键安装ROS自带opencv3够用

5.5安装g2o

下载g2o包(2020版) 下载地址：https://github.com/RainerKuemmerle/g2o

安装依赖

sudo apt install libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5

解压后cd到g2o文件目录下

mkdir build
cd build 
sudo ldconfig
cmake ..
make -j4
sudo make install

5.6安装dbow3

下载地址：GitHub - rmsalinas/DBow3: Improved version of DBow2

下在完后解压 cd到dbow3文件目录下

mkdir build
cd build
cmake ..
make -j4
sudo make install

5.7安装pcl

sudo apt-get install libpcl-dev pcl-tools

(5.5、5.6、5.7光跑orbslam2可以不装)

参考：Ubuntu18.04配置ORB_SLAM2运行环境_orb-slam2 ubuntu18.04-CSDN博客