:1. 安装Pangolin
# Get Pangolin
cd ~/your_fav_code_directory
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
# Install dependencies (as described above, or your preferred method)
./scripts/install_prerequisites.sh recommended
# Configure and build
mkdir build && cd build
cmake ..
cmake --build .
# GIVEME THE PYTHON STUFF!!!! (Check the output to verify selected python version)
cmake --build . -t pypangolin_pip_install
# Run me some tests! (Requires Catch2 which must be manually installed on Ubuntu.)
ctest
sudo make install
2. OpenCV 切换
我的环境安装了OpenCV3 与 OpenCV4,默认设置是OpenCv3.
修改CmakeLists:
find_package(OpenCV 4.4)
改成
find_package(OpenCV 4 REQUIRED)
3. Eigen3
可直接编译也可直接apt安装
4. 编译ORB SLAM3
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3
cd ORB_SLAM3
chmod +x build.sh
./build.sh
出现错误:error: ‘decay_t’ is not a member of ‘std’
修改编译c++版本
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
修改成c++14版本
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
如果在vm虚拟机上出现:fatal error:Killed signal terminated program cc1plus
调大虚拟机内存,调低make -j x