ubuntu16.04下编译运行ORB-SLAM2（完整实用版）

ubuntu16.04下编译运行ORB-SLAM2

一.安装用到的工具

1.安装git

 sudo apt-get install git

2.安装gcc，g++

sudo apt-get install g++ 
sudo apt-get install gcc  

3.安装cmake

sudo apt-get install cmake

二.安装opencv3.4.0 以及opencv_contrib3.4.0

1.安装依赖库

sudo apt-get install build-essential 
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
sudo apt-get install -y python-dev python-tk python-numpy python3-dev python3-tk python3-numpy

2.在github上下载对应的opencv版本和opencv_contrib版本。

https://github.com/opencv/opencv/releases
https://github.com/opencv/opencv_contrib/releases
解压后将opencv_contrib-3.4.0移动到opencv-3.4.0文件夹目录下，进入opencv-3.4.0文件夹

3.编译安装

 cd opencv-3.4.0
 mkdir build # 创建编译的文件目录
 cd build
 cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/loc