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。