ORB-SLAM2环境配置 随着ORB-SLAM2和ORB-SLAM3的盛行，越来越多的人踏入到了SLAM这个领域中，本文对ORB-SLAM2的配置环境进行介绍。 硬件基础：内存、硬盘足够 系统：Ubuntu16.04
接下来介绍配置过程（新手小白只需要跟着这个步骤一步一步地来即可）
Step1:由于我使用的虚拟机，因此虚拟机和Ubuntu系统可以随便从某乎等一些网站进行搜索，安装即可。
Step2：基础环境依赖 打开Ubuntu的命令行，依次输入以下内容
sudo apt-get install build-essential sudo apt-get install cmake sudo apt-get install cmake-gui sudo apt-get install pkg-config sudo apt-get install python-dev sudo apt-get install python-numpy sudo apt-get install git sudo apt-get install vim cmake sudo apt-get install git sudo apt-get install gcc g++
Step3：安装eigen
（注意下面内容是一行输入的，这里空间太小，换行了）
unzip -O cp936 eigen-3.3.9.zip cd eigen-3.3.9 mkdir build cd build cmake .. make sudo make install
Step4：安装g2o
1.git clone github.com/RainerKuemm… 2.cd g2o 3.mkdir build 4.cd build 5.cmake .. 6.make 7.sudo make install
Step5:安装OctoMap
1.git clone github.com/OctoMap/oct… 2.cd octomap 3.mkdir build 4.cd build 5.cmake .. 6.make 7.sudo make install
Step6:安装Sophus
git clone github.com/strasdat/So… cd Sophus mkdir build cd build cmake .. make sudo make install
Step7:安装Pangolin
1 sudo apt install libgl1-mesa-dev 2 sudo apt install libglew-dev 3 sudo apt install libpython2.7-dev 4 sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols 5 sudo apt install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev 6 sudo apt install libdc1394-22-dev libraw1394-dev 7 sudo apt install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev 8 git clone github.com/zzx2GH/Pang… 9 cd Pangolin 10 mkdir build 11 cd build 12 cmake .. 13 make 14 sudo make install
Step8:安装Glog
git clone github.com/google/glog… cd glog cmake -H. -Bbuild -G "Unix Makefiles" cmake --build build cmake --build build --target test cmake --build build --target install
Step9:安装Gflags
git clone github.com/gflags/gfla… cd gflags mkdir build cd build cmake -DBUILD_SHARED_LIBS=ON DBUILD_STATIC_LIBS=ON .. make sudo make install
Step10：安装Ceres
sudo apt-get install libatlas-base-dev liblapack-dev sudo apt-get install libsuitesparse-dev libcxsparse3.1.4 git clone ceres-solver.googlesource.com/ceres-solve… cd ceres-solver mkdir build cd build cmake .. make sudo make install
Step11：安装OpenCV3.4 首先下载包 百度网盘 pan.baidu.com/s/1XFsJMEgD… 提取码slam （我在windows里面把这个下载好，然后用U盘考到Ubuntu系统里面）
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev sudo apt-get install libtiff4.dev libswscale-dev libjasper-dev tar -zxvf 文件名 cd opencv-3.4.5 mkdir build cd build cmake .. make sudo make install sudo vim /etc/ld.so.conf.d/opencv.conf
在打开的空白文件中添加 /usr/local/lib 执行 sudo ldconfig ,使配置的环境变量生效 (配置 .bashrc ，末尾添加下面两行) //打开.bashrc
sudo vim /etc/bash.bashrc
//添加以下两行内容到.bashrc
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig export PKG_CONFIG_PATH
source 与 update
source /etc/bash.bashrc
sudo updatedb
测试是否正常安装 (成功会出现带 “hello opcv” 字样的窗口)
cd opencv-3.4.5/samples/cpp/example_cmake
cmake ..
make ./opencv_example
Step12：安装DBoW3
git clone github.com/rmsalinas/D… cd DBoW3 mkdir build cd build cmake .. make sudo make install
Step13:安装运行ORB-SLAM2
git clone github.com/raulmur/ORB… ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
有了ORB-SLAM2文件夹以后，还需要以下操作
cd ORB-SLAM2 cd Thirdparty/DBoW2 mkdir build cd build cmake ..-DCMAKE_BUILD_TYPE=Release make -j
cd ORB-SLAM2 cd Thirdparty/g2o mkdir build cd build cmake .. -DCMAKE_BUILD_TYPE=Release make -j
cd ORB-SLAM2 (mkdir build) //这个之前创建过了，省略这步 cd build cmake ..-DCMAKE_BUILD_TYPE=Release make -j
通过以上的操作，slam的环境就差不多配好了，现在差数据集和启动slam的代码，下面讲解
运行代码：
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/huang/rgbd_dataset_freiburg1_rpy
其中： ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1(这个地方的1根据后面那个数据集是1或者2或者3来进行修改即可！).yaml /home/huang/rgbd_dataset_freiburg1_rpy(这个地方直接换数据集即可)
数据集下载网站：vision.in.tum.de/data/datase…
以上是配置ORB-SLAM2的详细教程，欢迎讨论 + 点赞收藏
日常更新遇到的问题，也欢迎大家来帮忙解决！
