本文所装环境:
Pangolin0.5
Opencv3.4.16(ubuntu18.04)
Opencv4.5.5(ubuntu20.04)
Eigen3.3.9
DBoW2 and g2o
ros-melodic(ubuntu18.04)
ros-noetic(ubuntu20.04)
创建一个worksapce
mkdir -p orbslam2_ws/src
catkin_make
cd orbslam2_ws/src
下载ORB-slam2:
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
build: