1.安装Pangolin
安装Pangolin 作为可视化和用户界面
a. 安装依赖项
$ sudo apt-get install libglew-dev libpython2.7-dev
$ git clone https://github.com/stevenlovegrove/Pangolin.git
$ cd Pangolin
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
2.安装g2o
首先安装依赖
sudo apt-get install libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make
sudo make install
3.安装DBow3
git clone https://github.com/rmsalinas/DBow3.git
cd DBow3
mkdir build
cd build/
cmake ..
make
sudo make install