1. 安装opencv 2.4.9

下载opencv2.4.9

apt-get install build-essential 
apt-get install libgtk2.0-dev libavcodec-dev libavformat-dev libtiff4-dev 
libswscale-dev libjasper-dev 
apt-get install cmake 
apt-get install pkg-config 
进入安装包文件： 
mkdir release 
cd release 
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D 
WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D 
INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D 
WITH_QT=ON -D WITH_OPENGL=ON -D WITH_CUDA=OFF .. 
make -j8 
make install 
sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf' 
ldconfig

2. pangolin安装

git clone https://github.com/stevenlovegrove/Pangolin 
apt-get install libglew-dev 
apt-get install cmake 
apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev 
cd Pangolin 
mkdir build 
cd build 
cmake -DCPP11_NO_BOOST=1 .. 
make -j8 
make install

3. 安装dynslam

cd DynSLAM 
mkdir build 
cd build 
cd ../src 
git clone https://github.com/gflags/gflags 
git clone https://github.com/AndreiBarsan/libviso2-mirror.git 
mv libviso2-mirror libviso2
git clone https://github.com/victorprad/InfiniTAM.git
rm -rf pfmLib/
git clone https://github.com/AndreiBarsan/pfmLib.git
rm -rf Pangolin/
https://github.com/stevenlovegrove/Pangolin.git
cd ../build
cmake ..
make -j8

出现错误**😗*

fatal error: …/…/InfiniTAM/InfiniTAM/ITMLib/Objects/ITMView.h: No such file or directory

原因, 一定要从DynSlam的git链接中去找对应的依赖库

另外:

有可能源码单词错误:glDrawFrustrum -> glDrawFrustum

opencv需要设置版本, 如果是2.x 要在cmakelist里改对应版本, 中间加个2.