orbslam2可视化_ORB-SLAM2实现（kinect V1/ROS）

实验室电脑环境ubuntu14.04和ROS indigo已经装好。

1. 构建工作空间【非常重要的一步】

mkdir -p ~/catkin_ws/src

cd~/catkin_ws/catkin_make

source devel/setup.bash

echo "source devel/setup.bash" >> ~/.bashrc

source ~/.bashrc

将source ~/catkin_ws/devel/setup.bash加入到~/.bashrc中去

2. 安装Pangolin，用于可视化和用户接口

git clone https://github.com/stevenlovegrove/Pangolin.git

cd Pangolin

mkdir build

cd build

cmake-DCPP11_NO_BOOST=1..

make-j

3. 安装BLAS和LAPACK

sudo apt-get install libblas-dev

sudo apt-get install liblapack-dev

4. 构建ORB_SLAM2库

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2cd ORB_SLAM2

chmod+x build.sh

./build.sh

5. 在~/.bashrc添加路径

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/lzp/catkin_mono_orb/src/ORB_SLAM2/Examples/ROS

6. 在ORB_S