ORB_SLAM2安装

进入工程目录，我们发现有两个sh文件，一个是build.sh另一个是build_ros.sh。

这两个都可以进行ORB_SLAM2的安装，我们先来看一下build.sh

 echo "Configuring and building Thirdparty/DBoW2 ..."

 cd Thirdparty/DBoW2
 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
 make -j

 cd ../../g2o

 echo "Configuring and building Thirdparty/g2o ..."

 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
 make -j

 cd ../../../

 echo "Uncompress vocabulary ..."

 cd Vocabulary
 tar -xf ORBvoc.txt.tar.gz
 cd ..

 echo "Configuring and building ORB_SLAM2 ..."

 mkdir build
 cd build
 cmake .. -DCMAKE_BUILD_TYPE=Release
 make -j

我们通过查看orb_slam的代码框架可以知道，有2个lib库需要我们编译。一个是DBoW2，另一个是g2o，按照上面的指示可以分别将lib库编译完成。

解压ORBvoc.txt.tar.gz,然后在工程目录下建立build，然后编译，便可以成功。

但是第一次编译，由于没有安装一些依赖，可能会出现以下问题：

 //若第一次编译，可能得到以下错误
 CMake Error at CMakeLists.txt: (find_package):
   By not providing "FindPangolin.cmake" in CMAKE_MODULE_PATH this project has
   asked CMake to find a package configuration file provided by "Pangolin",
   but CMake did not find one.

   Could not find a package configuration file provided by "Pangolin" with any
   of the following names:

     PangolinConfig.cmake
     pangolin-config.cmake

   Add the installation prefix of "Pangolin" to CMAKE_PREFIX_PATH or set
   "Pangolin_DIR" to a directory containing one of the above files.  If
   "Pangolin" provides a separate development package or SDK, be sure it has
   been installed.
 -- Configuring incomplete, errors occurred!
 See also "/home/leonsun/backup/orb_slam2/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
 //没有安装Pangolin

解决方法如下：

 //到home目录
 mkdir Software
 cd Software
 //下载Pangolin并且编译
 git https://github.com/stevenlovegrove/Pangolin.git
 //右键提取到此处解压Pangolin文件
 cd Pangolin
 mkdir build
 cd build
 cmake ..

但是得到以下错误

 -- The C compiler identification is GNU 5.4.
 -- The CXX compiler identification is GNU 5.4.
 -- Check for working C compiler: /usr/bin/cc
 -- Check for working C compiler: /usr/bin/cc -- works
 -- Detecting C compiler ABI info
 -- Detecting C compiler ABI info - done
 -- Detecting C compile features
 -- Detecting C compile features - done
 -- Check for working CXX compiler: /usr/bin/c++
 -- Check for working CXX compiler: /usr/bin/c++ -- works
 -- Detecting CXX compiler ABI info
 -- Detecting CXX compiler ABI info - done
 -- Detecting CXX compile features
 -- Detecting CXX compile features - done
 Build type not set (defaults to release)
 -DCMAKE_BUILD_TYPE=Debug for debug
 CMake Error at CMakeModules/FindGLEW.cmake: (MESSAGE):
   Could not find GLEW
 Call Stack (most recent call first):
   src/CMakeLists.txt: (find_package)

没有安装GLEW，利用apt-get进行安装

sudo apt-get install libglew-dev

重新编译Pangolin，成功。然后按照上部分提供的官网教程进行编译

接着我们来看一下build_ros.sh

 echo "Building ROS nodes"

 cd Examples/ROS/ORB_SLAM2
 mkdir build
 cd build
 cmake .. -DROS_BUILD_TYPE=Release
 make -j

官方给的教程就是运行这个文件进行编译。也可以进行成功编译。

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