*.安装Eigen

sudo apt-get install libeigen3-dev

()查看软件安装位置

sudo apt-get install mlocate

sudo updatedb

locate eigen3

*.安装Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git

sudo apt-get install libglew-dev

cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .

sudo make install (make install DESTDIR=/home/pi/Slam/Pangolin/build/install)

set(Pangolin_DIR "/home/pi/Slam/Pangolin/build/src")

find_package( Pangolin )

*.ORB_SLAM3编译

()DBoW2安装

fatal error: boost/serialization/serialization.hpp: 没有那个文件或目录

--->sudo apt-get install libboost-all-dev

()g2o正常编译

mkdir build

cmake ..

make -j4

()pkg-config --modversion opencv

set(OpenCV_DIR "/home/mk/opencv320/opencv/build")

()编译ORB_SLAM3

fatal error: openssl/md5.h: 没有那个文件或目录
--->sudo apt-get install libssl-dev

error: ‘decay_t’ is not a member of ‘std’

--->CMakeList.txt添加set(CMAKE_CXX_STANDARD 14)

()尝试编译ROS

source /opt/ros/melodic/setup.bash

sudo nano ~/.bashrc

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/pi/Slam/ORB_SLAM3_detailed_comments/Examples/ROS/ORB_SLAM3

()运行例程

./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml /home/pi/Slam/ORB_SLAM3_detailed_comments/data/MH_01_easy ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi