编译ORB_SLAM3

编译ORB_SLAM3

环境

ubuntu18.04

ROSmelodic

OpenCV V3.4

Pangolin V0.5

Eigen3 V3.3.7（如有老版本则进行卸载）

老版本卸载

sudo updatedb  
locate eigen3  
sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums  

新版本安装（3.3.7）

mkdir build

cd build

cmake ..

sudo make install

安装 fmt（Sophus需要）

git clone  https://github.com/fmtlib/fmt.git
cd fmt
mkdir build
cd build
cmake ..
make
sudo make install

安装boost库（V1.75.0）

https://www.boost.org/

tar -xzvf boost_1_75_0.tar.gz
or 
unzip boost_1_75_0.zip
cd boost_1_75_0
sudo ./bootstrap.sh
sudo ./b2 install

安装libssl-dev

sudo apt-get install libssl-dev

编译ORB-SLAM3

修改cmakelist

![
]

修改include/Loopclosing.h

编译

cd ORB_SLAM3
chmod +x build.sh
./build.sh

或许你可以分开编译
编译DBoW2

cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

编译g2o

cd ../../g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

编译Sophus

cd ../../Sophus
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

解压ORBvoc

cd ../../../
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz

编译主文件夹

cd ..
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j6