ORB-slam3 安装教程

1. 官网下载源码：GitHub - UZ-SLAMLab/ORB_SLAM3: ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

2. 根据官网下载依赖：

（1）eigen3:Eigen

解压后进入源码目录进行编译：
mkdir build
cd build
cmake ..
sudo make install
#安装后,头文件安装在/usr/local/include/eigen3/Eigen
#移动头文件
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include

（2）Pangolin:https://github.com/stevenlovegrove/Pangolin

按提示安装：

./scripts/install_prerequisites.sh --dry-run recommended

./scripts/install_prerequisites.sh -m apt all

mkdir build && cd build
cmake ..
sudo make -j4
sudo make install

验证: 运行：./build/examples/HelloPangolin/HelloPangolin

若成功显示:

 (3)opencv:Releases - OpenCV

1.从官网下载所需要的opencv版本：

2.解压后：

mkdir build

cmake ..

make -j8

sudo make install

在编译过错中遇到错误：error: ‘sleep_for’ is not a member of ‘std::this_thread’

解决办法参考：【ubutun安装opencv4.5.0报错细解]：error: ‘sleep_for’ is not a member of ‘std::this_thread’_ubuntu opencv 报错-CSDN博客

解决：找到.. / opencv / modules / gapi / test /路径下找到gapi_async_test.cpp 

在文件中添加#include <thread>头文件，并保存重新make 

（4）DBOW和g2o：

都是执行：

mkdir build

cd build

cmake ..

make -j8

（5）orb-slam3编译：

mkdir build

cd build

cmake ..

make -j8

然后运行即可：./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml ../Dataset/V1_01_easy ./Examples/Monocular/EuRoC_TimeStamps/V101.txt