如何用orbslam2运行数据集以及让自己电脑相机运行单目slam

1、下载orbslam2

https://github.com/raulmur/ORB_SLAM2

2、下载数据集(tum和kitti的)

链接: https://pan.baidu.com/s/1cmPaJF84NNNPMXosds70Zg 提取码: fpje 

3、按照orbslam2的readme配置环境

Prerequisites
We have tested the library in **Ubuntu 12.04**, **14.04** and **16.04**, but it should be easy to compile in other platforms. A powerful computer (e.g. i7) will ensure real-time performance and provide more stable and accurate results.

## C++11 or C++0x Compiler
We use the new thread and chrono functionalities of C++11.

现在都支持c++11了

## Pangolin

We use [Pangolin](https://github.com/stevenlovegrove/Pangolin) for visualization and user interface. Dowload and install instructions can be found at: https://github.com/stevenlovegrove/Pangolin.

pangolin安装方法

先安装依赖

sudo apt-get install libglew-dev
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install libpython2.7-dev

https://github.com/stevenlovegrove/Pangolin下载解压，

mkdir build

cmake -DCPP11_NO_BOOSR=1 ..

make -j16(这里16看自己电脑线程多少而定)

sudo make install

## OpenCV
We use [OpenCV](http://opencv.org) to manipulate images and features. Dowload and install instructions can be found at: http://opencv.org. **Required at leat 2.4.3. Tested with OpenCV 2.4.11 and OpenCV 3.2**.

opencv安装方法

sudo apt-get update

sudo apt-get upgrade

sudo apt-get install cmake

sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev