foreword

It is recommended that the memory configuration of the hardware device for compiling ORB-SLAM3 is at least 4GB or more (Raspberry Pi 4B 4GB), otherwise it will freeze

Preliminary preparation - complete installation of ROS

For the specific installation of ROS, please refer to an installation blog written before - "Ubuntu installation of ROS (detailed pictures and texts for each step)"
is posted here - "One-click installation of ROS for small fish" , and the terminal executes:

wget http://fishros.com/install -O fishros && . fishros

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OpenCV installation (4.2.0)

For the specific installation process, please refer to the previous blog "Installing OpenCV4.2.0 and Opencv_contrib under Ubuntu 18.04 (Detailed Error Reporting Summary with Graphics and Text)"

install dependencies

Compiler for C++11 features

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

Pangolin

First install the dependent environment required by Pangolin

sudo apt-get install libglew-dev
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install libx11-dev libxmu-dev libglu1-mesa-dev libgl2ps-dev libxi-dev g++ libzip-dev libpng12-dev libcurl4-gnutls-dev libfontconfig1-dev libsqlite3-dev libglew*-dev libssl-dev
sudo apt-get install glew-utils

Download Pangolin

git clone https://github.com/stevenlovegrove/Pangolin

Execute the installation:

cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j8
sudo make install

~~PS: If make -j is stuck here, just change make~~
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Test the pangolin program

cd ~/Pangolin/build/examples/HelloPangolin
./HelloPangolin

This appears to indicate that the pangolin installation was successful
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Own

Download it from the Eigen official website , the version used here is 3.3.9
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After downloading, decompress and enter the Eigen directory

cd eigen-3.3.9
mkdir build
cd build
cmake ..
sudo make install

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~~Basically installed in seconds~~

boost

The terminal executes the following command

sudo apt-get install libboost-all-dev
sudo apt search boost