Ubuntu18.04 运行ORB-SLAM2记录

系统

虚拟机Ubuntu 18.04，安装略

安装依赖

sudo apt install git
sudo apt install cmake gcc g++

安装pangolin

这里注意要下载pangolin v0.5，不要直接从仓库直接clone。
pangolin0.5 提取码 n6r8
进入pangolin

sudo apt-get install libglew-dev
cd Pangolin
mkdir build
cmake ..
make -j2
sudo make install

安装完成后在example文件夹下的HelloPangolin文件夹下

mkdir build
cd build
cmake ..
make
./HelloPanglin

看到一个用鼠标可以拖动旋转的彩色立方体即安装成功

安装OpenCV3.4.1

下载OpenCV 3.4.1安装包，解压并进入
安装依赖

sudo apt install build-essential libgtk2.0-dev libavcodec-dev 
sudo apt install libavformat-dev libjpeg-dev libswscale-dev libtiff5-dev

mkdir build
cd build/
ls
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv-3.4.1/ ..
make -j8
sudo make install
vim ~/.bashrc
加入：
export PKG_CONFIG_PATH=/usr/local/opencv-3.4.1/lib/pkgconfig
export LD_LIBRARY_PATH=/usr/local/opencv-3.4.1/lib

最后

pkg-config --modversion opencv

显示安装版本即代表安装成功

安装Eigen3

sudo apt install libeigen3-dev

编译ORB-SLAM2

保持RAM在8G或以上

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh

报unsleep之类的错误，需要在source文件的开头增加include
#include <unistd.h>

需要增加unistd.h的文件有：

Examples/Monocular/mono_euroc.cc
Examples/Monocular/mono_kitti.cc
Examples/Monocular/mono_tum.cc
Examples/RGB-D/rgbd_tum.cc
Examples/Stereo/stereo_euroc.cc
Examples/Stereo/stereo_kitti.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/System.cc
src/Tracking.cc
src/Viewer.cc