ORB_SLAM2系列之一:Ubuntu 编译安装ORB_SLAM2

环境

Ubuntu 14.04 +ROS indigo

解决依赖

首先需要编译安装GLEW和Pangolin

安装GLEW：

sudo apt-get install libx11-dev

sudo apt-get install libgl1-mesa-dev 

sudo apt-get install libglu1-mesa-dev 

sudo apt-get install freeglut3-dev

sudo apt-get install doxygen

wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz

tar -xzvf glew-2.1.0.tgz

cd glew-2.1.0

make && make install 

ldconfig

安装Pangolin：

git clone https://github.com/stevenlovegrove/Pangolin.git

cd Pangolin

mkdir build

cd build

cmake ..

make && make install

ldconfig

安装Eigen3

sudo apt-get install libeigen3-*

sudo apt-get install libflann-dev python libusb-1.0-0-dev libudev-dev freeglut3-dev doxygen graphviz libpng12-dev libgtest-dev libxmu-dev libxi-dev libpcap-dev libqhull-dev libvtk5-qt4-dev python-vtk libvtk-java 

安装flann：

git clone https://github.com/mariusmuja/flann

cd flann

mkdir build && cd build

make -j32 && make install -j32

安装pcl

注意:pcl安装需要修改CMakeLists.txt，开启C++11选项，然后编译安装，具体见Cmake开启C++11编译选项.

git clone https://github.com/PointCloudLibrary/pcl.git 

cd pcl 

mkdir build && cd build

make -j32 && make install -j32

sudo apt-get install libopencv-*

安装ORBSLAM2

依次执行以下命令即可：

sudo su

git clone https://github.com/raulmur/ORB_SLAM2.git

cd ORB_SLAM2

./build.sh

至此，Ubuntu 14.04 ROS indigo下编译安装ORB_SLAM2完毕。

写在最后

Ubuntu 16.04 +ROS kinetic环境下编译安装ORB_SLAM2的步骤也和这个一样。

可能出现错误:

error while loading shared libraries: libGLEW.so.2.1:
cannot open shared object file: No such file or directory

修改/etc/ld.so.conf文件,在后面追加/usr/lib64,然后执行命令sudo ldconfig -v即可解决.