从零开始ORB_SLAM2

ORB_SLAM2

依赖安装

安装Pangolin

参考 https://github.com/stevenlovegrove/Pangolin

Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input. At its heart is a simple OpenGl viewport manager which can help to modularise 3D visualisation without adding to its complexity, and offers an advanced but intuitive 3D navigation handler. Pangolin also provides a mechanism for manipulating program variables through config files and ui integration, and has a flexible real-time plotter for visualising graphical data.

The ethos of Pangolin is to reduce the boilerplate code that normally gets written to visualise and interact with (typically image and 3D based) systems, without compromising performance. It also enables write-once code for a number of platforms, currently including Windows, Linux, OSX, Android and IOS

安装依赖

必须依赖

• C++11

• OpenGL (Desktop / ES / ES2)

  • sudo apt install libgl1-mesa-dev

• Glew

  • sudo apt install libglew-dev

• CMake (for build environment)

  • (deb) sudo apt install cmake

推荐依赖

• Python2 / Python3, for drop-down interactive console

• Wayland

  • pkg-config: sudo apt install pkg-config
  • Wayland and EGL:sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols

视频输入可选依赖

Building

git clone https://github.com/stevenlovegrove/Pangolin.git  
#若速度太慢可选
git clone https://gitee.com/cwwwws/Pangolin.git

cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

SLAM可视化绘图库——Pangolin 的验证

参考 https://blog.csdn.net/weixin_43991178/article/details/105119610

mkdir test
gedit test.cpp
gedit CMakeLists.txt
cmake .
make
./HelloPangolin 

test.cpp

#include <pangolin/pangolin.h>

int main( int /*argc*/, char** /*argv*/ )
{
    // 创建名称为“Main”的GUI窗口，尺寸为640×640
    pangolin::CreateWindowAndBind("Main",640,480);
    // 启动深度测试
    glEnable(GL_DEPTH_TEST);

    // 创建一个观察相机