安装前准备

vim cmake git gcc g++ libeigen3-dev(eigen)

安装Pangolin

• 依赖项：

sudo apt install libglew-dev
sudo apt install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt install libpython2.7-dev

• 流程

git clone
cd Pangolin
git reset --hard v0.8(改为v0.5)
mkdir build
cd build
cmake ..
make -j12
sudo make install

安装OpenCV

• 依赖项：

sudo apt install build-essential libgtk2.0-dev libjpeg-dev libopenexr-dev libtbb-dev
sudo apt install libavcodec-dev libavformat-dev libswscale-dev libtiff5-dev libvtk6-dev
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

• 流程

cd opencv-3.4.5
mkdir build
cd build
cmake ..
make -j12
sudo make install

• 配置环境变量

执行 sudo vim /etc/ld.so.conf.d/opencv.conf
添加 /usr/local/lib
执行 sudo ldconfig

• 执行

sudo vim /etc/bash.bashrc

• 添加

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH

• 执行

source /etc/bash.bashrc
sudo updatedb

• 测试

cd opencv-3.4.5/samples/cpp/example_cmake
cmake .
make
./opencv_example

安装ORB_SLAM2

git clone
cd ORB_SLAM2
sudo chmod +x build.sh
./build.sh

如果报usleep相关的错误则在对应的/src/.cc文件中加入#include <unistd.h>

报错Pangolin could not be found because dependency Eigen3 could not be found.

• 降低Pangolin版本
• 在Pangolin的build目录下sudo make uninstall
• sudo rm -R /usr/local/include/pangolin
• 重装v0.5版本的Pangolin
• 在/include/System.h中加入#include <unistd.h>

如需在ROS环境下运行ORB_SLAM2

• chmod +x build_ros.sh
• 在~/.bashrc中加入： export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/git/ORB_SLAM2/Examples/ROS/ 再运行./build_ros.sh
• 报rospkg相关错误：sudo pip3 install rospkg
• 报boost库相关错误：Examples/ROS/ORB_SLAM2中的CMakeLists.txt的set(LIBS...)末尾加入-lboost_system

运行单目示例

• ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml Data/rgbd_dataset_freiburg1_desk
• 即readme中提到的： /Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER
• sequence从https://vision.in.tum.de/data/datasets/rgbd-dataset/download中下载

运行数据预处理associate

• 在https://vision.in.tum.de/data/datasets/rgbd-dataset/tools中，选择associate.py；详细地址为https://svncvpr.in.tum.de/cvpr-ros-pkg/trunk/rgbd_benchmark/rgbd_benchmark_tools/src/rgbd_benchmark_tools/associate.py。
• python2 associate.py rgb.txt depth.txt > associate.txt
• python2 associate.py associate.txt groundtruth.txt > associate_with_groundtruth.txt

变量命名规范（前缀）

• m 类的成员变量
• p 指针
• b 布尔型
• v 向量
• t 线程
• l 列表