搭建ORB_SLAM3视觉里程计系统
本文详细介绍了如何从零开始搭建ORB_SLAM3系统，包括安装必要的软件包如g++, CMake, Git, OpenGL, GLEW, Pangolin, OpenCV, Eigen3, Boost等，以及设置编译环境和构建过程。特别关注于OpenCV和Eigen3的配置，确保视觉里程计系统的稳定运行。
g++
g++ -v sudo apt-get install g++
cmake
sudo apt-get install cmake
git
sudo apt-get install git
OpenGL
sudo apt install libgl1-mesa-dev
Glew
sudo apt install libglew-dev
Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
OpenCV
download opencv-3.4.0.zip and unzip it
sudo apt-get update
[compiler]
sudo apt-get install build-essential
[required]
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
[optional]
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev
[libjasper-dev]
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev
cd ~/opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j8
sudo make install
Eigen3
download eigen-3.3.7.zip and unzip it
cd eigen-3.3.7
mkdir build
cd build
cmake ..
make
sudo make install
Boost
sudo apt-get install libboost-all-dev
sudo apt-get install libssl-dev
ORB_SLAM3
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git
cd ORB_SLAM3
chmod +x build.sh
./build.sh
apt-get install install libgtk2.0-dev pkg-config
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