软件版本

Pangolin	0.6
opencv	3.4.0
ORB SLAM2

编译

# 更改Opencv依赖版本与添加Pangolin依赖
# CMakelist.txt更改
LIST(APPEND CMAKE_PREFIX_PATH /usr/local/opencv-3.4) # 添加
LIST(APPEND CMAKE_PREFIX_PATH /usr/local/Pangolin-0.6) # 添加
find_package(OpenCV 3 QUIET) # 更改# Thirdparty/DBoW2/CMakeLists.txt
LIST(APPEND CMAKE_PREFIX_PATH /usr/local/opencv-3.4) # 添加
find_package(OpenCV 3 QUIET) # 更改

编译

自动编译

./build.sh

手动编译

# 编译
cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -jcd ../../g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -jcd ../../../
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j