Ubuntu18.04运行ORB-SLAM3（Demo+本地Realsense D415运行）

ORB-SLAM3论文地址：https://arxiv.org/abs/2007.11898
代码地址：https://github.com/UZ-SLAMLab/ORB_SLAM3

一、安装库

根据ORB-SLAM3源代码安装以下库：
1、Pangolin
附上github网址：https://github.com/stevenlovegrove/Pangolin
根据github里面安装即可：

#安装依赖
sudo apt install libglew-dev
sudo apt install cmake
sudo apt install libpython2.7-dev
#可选依赖见github，我没装所以就不贴出来啦
#下载并编译
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
#最后不要忘了安装
sudo make install

2、opencv3.2.0
下载官网opencv3.2.0安装包

#安装依赖
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
#再加上以下依赖，后面出错了，所以先加上
sudo apt-get install libgtk-3-dev
sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-