Ubuntu18.04 + ORBSLAM2

sudo apt-get install cmake
sudo apt-get install git
sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev

Pangolin

git clonehttps://github.com/stevenlovegrove/Pangolin.git

cd Pangolin

mkdir build

cd build

cmake …

make –j

sudo make install

Opencv

安装编译见本文

Eigen3

在http://eigen.tuxfamily.org下载最低至少为3.1.0版本
mkdir build

cd build

cmake …

make

sudo make install

ORBSLAM2

git clonehttps://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
编译报错 usleep()
在对应头文件添加#include<unistd.h>

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml /home/nzeyfbu/catkin_ws/dataset/rgbd_dataset_freiburg1_rpy
因为用的是rgbd_dataset_freiburg1_xyz序列，所以将TUMX.yaml改为 TUM1.yaml