Ubuntu18.04安装ORB-SLAM2

ORB-SLAM2安装

1.1安装工具

 sudo apt-get install cmake    //安装cmake
 
 sudo apt-get install git            //安装git
 
 sudo apt-get install gcc g++   //安装gcc  g++

下载ORB-SLAM2源码
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

1.2安装Pangolin

安装依赖

 sudo apt-get install libglew-dev    //安装glew
 
 sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
 
 sudo apt-get install libpython2.7-dev     //安装python2.7
 

安装pangolin

pangolin

cd Pangolin-v0.5
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

测试Pangolion-v0.5

cd Pangolin-v0.5
cd build/examples/HelloPangolin
./HelloPangolin

1.3安装Eigen

sudo apt-get install libeigen3-dev

1.4安装Opencv

下载Opencv3.4.0

tar zxvf opencv-3.4.0.tar.gz   //解压

cd opencv3.4.0
mkdir build
cd build
cmake ..
make -j2
sudo make install

1.5安装ORB-SLAM2

cd ORB_SLAM2
chmod +x build.sh
./build.sh