ORBSLAM3安装

0. C++11 or C++0x Compiler

	sudo apt-get install gcc
 	sudo apt-get install g++
 	sudo apt-get install build-essential
 	sudo apt-get install cmake

1. 依赖

在该目录终端。

1. 1.Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
sudo apt install libglew-dev
cd Pangolin && mkdir build && cd build
cmake ..
make 
sudo make install

1.2. opencv

git clone https://github.com/opencv/opencv.git
cd opencv
git checkout 4.5.1
cd ..

git clone https://github.com/opencv/opencv_contrib.git
cd opencv_contrib
git checkout 4.5.1
cd ..

cd opencv
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE \
      -D CMAKE_INSTALL_PREFIX=/usr/local \
      -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules \
      -D BUILD_EXAMPLES=ON ..
make
sudo make install

1.3. eigen

2. run

git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3
cd ORB_SLAM3
chmod +x build.sh
./build.sh

3. ref

https://github.com/UZ-SLAMLab/ORB_SLAM3
https://github.com/shanpenghui/ORB_SLAM3_Fixed