ORB_SLAM2安装

进入工程目录

按照官网安装ROS版本：前提是已经安装了ROS
 1 cd ORB_SLAM2 2 chmod +x build.sh 3 ./build.sh 
我们看一下build.sh里面的内容

1 echo "Building ROS nodes"
2 
3 cd Examples/ROS/ORB_SLAM2
4 mkdir build
5 cd build
6 cmake .. -DROS_BUILD_TYPE=Release
7 make -j

得到如下，编译成功

 1 [ 87%] Linking CXX executable ../Examples/Monocular/mono_tum
 2 [ 90%] Linking CXX executable ../Examples/RGB-D/rgbd_tum
 3 [ 87%] Linking CXX executable ../Examples/Stereo/stereo_kitti
 4 [ 93%] Linking CXX executable ../Examples/Monocular/mono_kitti
 5 [ 93%] Built target stereo_kitti
 6 [ 93%] Built target rgbd_tum
 7 [ 93%] Built target mono_tum
 8 [ 96%] Linking CXX executable ../Examples/Stereo/stereo_euroc
 9 [100%] Linking CXX executable ../Examples/Monocular/mono_euroc
10 [100%] Built target mono_kitti
11 [100%] Built target stereo_euroc
12 [100%] Built target mono_euroc

//若第一次编译，可能得到以下错误
CMake Error at CMakeLists.txt:40 (find_package):
  By not providing "FindPangolin.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Pangolin",
  but CMake did not find one.

  Could not find a package configuration file provided by "Pangolin" with any
  of the following names:

    PangolinConfig.cmake
    pangolin-config.cmake

  Add the installation prefix of "Pangolin" to CMAKE_PREFIX_PATH or set
  "Pangolin_DIR" to a directory containing one of the above files.  If
  "Pangolin" provides a separate development package or SDK, be sure it has
  been installed.


-- Configuring incomplete, errors occurred!
See also "/home/leonsun/backup/orb_slam2/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
//没有安装Pangolin

 1 //到home目录
 2 mkdir Software
 3 cd Software
 4 //下载Pangolin并且编译
 5 git https://github.com/stevenlovegrove/Pangolin.git
 6 //右键提取到此处解压Pangolin文件
 7 cd Pangolin
 8 mkdir build
 9 cd build 
10 cmake ..

得到以下错误

 1 -- The C compiler identification is GNU 5.4.0
 2 -- The CXX compiler identification is GNU 5.4.0
 3 -- Check for working C compiler: /usr/bin/cc
 4 -- Check for working C compiler: /usr/bin/cc -- works
 5 -- Detecting C compiler ABI info
 6 -- Detecting C compiler ABI info - done
 7 -- Detecting C compile features
 8 -- Detecting C compile features - done
 9 -- Check for working CXX compiler: /usr/bin/c++
10 -- Check for working CXX compiler: /usr/bin/c++ -- works
11 -- Detecting CXX compiler ABI info
12 -- Detecting CXX compiler ABI info - done
13 -- Detecting CXX compile features
14 -- Detecting CXX compile features - done
15 Build type not set (defaults to release)
16 -DCMAKE_BUILD_TYPE=Debug for debug
17 CMake Error at CMakeModules/FindGLEW.cmake:51 (MESSAGE):
18   Could not find GLEW
19 Call Stack (most recent call first):
20   src/CMakeLists.txt:122 (find_package)

没有安装GLEW，利用apt-get进行安装

1 sudo apt-get install libglew-dev

重新编译Pangolin，成功。然后按照上部分提供的官网教程进行编译。

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