2018-10-15ORB_SLAM2环境配置

准备工作

C++ cmake git boost glew python opencv

• apt-get install cmake g++ gcc git
• sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
• apt-get install libglew-dev
• apt-get install python3 #python
• opencv从安装
  依赖：
  apt-get install build-essential
  apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev
  libavformat-dev libswscale-dev
  下载源码2.4.11，解压unzip 压缩包.zip
  cd 进去
  mkdir release
  cd release
  cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local ..
  make
  make install

eigen3 pangolin

• eigen
  or apt-get install libeigen3-dev
• Pangolin
  源码安装

安装工作

• sudo apt-get install libblas-dev
• sudo apt-get install liblapack-dev

下载源码/raulmur/ORB_SLAM2

git方式
存catkin_ws/src

修复源码

src和examples文件夹的cc文件添加#include<unistd.h>
build.sh删除make 后面的-j

运行./build.sh

测试案例