ORB SLAM3 编译

软件版本

Pangolin	0.6
opencv	4.5
ORB SLAM3

编译

修改编译文件

# CMakeLists.txt
LIST(APPEND CMAKE_PREFIX_PATH /usr/local/Pangolin-0.6) # 添加

编译：方法1

./build.sh

方法2

cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

cd ../../g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

cd ../../Sophus
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

cd ../../../
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz

cd ..
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

运行

./Examples/RGB-D/rgbd_tum ./Vocabulary/ORBvoc.txt ./Examples/RGB-D/TUM1.yaml /mnt/hgfs/SharedFolders/DataSets/rgbd_dataset_freiburg1_xyz/ /mnt/hgfs/SharedFolders/DataSets/rgbd_dataset_freiburg1_xyz/assoc.txt

结果

结果分析参考ORB SLAM2