- 安装pangolin
pangolin的github地址https://github.com/stevenlovegrove/Pangolin
在安装Pangolin时出现问题
-- Found WAYLAND: /usr/lib/x86_64-linux-gnu/libwayland-client.so;/usr/lib/x86_64-linux-gnu/libwayland-server.so;/usr/lib/x86_64-linux-gnu/libwayland-egl.so;/usr/lib/x86_64-linux-gnu/libwayland-cursor.so
-- Checking for module 'xkbcommon'
-- No package 'xkbcommon' found
CMake Error at /usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:415 (message):
A required package was not found
Call Stack (most recent call first):
/usr/share/cmake-3.10/Modules/FindPkgConfig.cmake:593 (_pkg_check_modules_internal)
src/CMakeLists.txt:219 (pkg_check_modules)
-- Configuring incomplete, errors occurred!
See also "/home/fcl/Pangolin/build/CMakeFiles/CMakeOutput.log".
参考https://blog.csdn.net/weixin_38504276/article/details/100673890
解决办法：
sudo apt-get install libxkbcommon-x11-dev
然后再cmake ..
参考
使用ros的参考https://blog.csdn.net/RadiantJeral/article/details/82193370
- 安装orb-slam2
orb-slam2的github地址https://github.com/raulmur/ORB_SLAM2
问题：usleep
参考https://www.cnblogs.com/bigzhao/p/6537562.html
参考github上的回答https://github.com/raulmur/ORB_SLAM2/pull/834/commits/d5be22c12aedde9265d766baa036021883b97cc0
在以下的文件中加入头文件#include <unistd.h>
/home/fcl/ORB_SLAM2/src/LoopClosing.cc
/home/fcl/ORB_SLAM2/src/LocalMapping.cc
/home/fcl/ORB_SLAM2/src/System.cc
/home/fcl/ORB_SLAM2/src/Tracking.cc
/home/fcl/ORB_SLAM2/src/Viewer.cc
/home/fcl/ORB_SLAM2/Examples/Monocular/mono_euroc.cc
/home/fcl/ORB_SLAM2/Examples/Monocular/mono_kitti.cc
/home/fcl/ORB_SLAM2/Examples/Monocular/mono_tum.cc
/home/fcl/ORB_SLAM2/Examples/RGB-D/rgbd_tum.cc
/home/fcl/ORB_SLAM2/Examples/Stereo/stereo_euroc.cc
/home/fcl/ORB_SLAM2/Examples/Stereo/stereo_kitti.cc
正确的src和Example的文件夹在文档里