sudo apt-get install cmake
sudo apt-get install git
sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev
Pangolin
git clonehttps://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake …
make –j
sudo make install
Opencv
安装编译见本文
Eigen3
在http://eigen.tuxfamily.org下载最低至少为3.1.0版本
mkdir build
cd build
cmake …
make
sudo make install
ORBSLAM2
git clonehttps://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
编译报错 usleep()
在对应头文件添加#include<unistd.h>
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml /home/nzeyfbu/catkin_ws/dataset/rgbd_dataset_freiburg1_rpy
因为用的是rgbd_dataset_freiburg1_xyz序列,所以将TUMX.yaml改为 TUM1.yaml