一、 下载
1. 创建工作目录
cd ~/
mkdir Orb_Slamv3
cd Orb_Slamv3
2. 下载 ORB SLAMv3源码(当前最新版本是0.4)
git clone git@github.com:UZ-SLAMLab/ORB_SLAM3.git
3. 下载 Opencv(最低要求3.2.0)（使用的是3.3.1）
git clone git@github.com:opencv/opencv.git
git checkout 3.3.1
4. 下载 Eigen3(最低要求3.1.0)（使用的是3.1.0）
可以在Eigen3.1下载压缩包,git下载太慢
5. 下载 Pangolin
git clone git@github.com:stevenlovegrove/Pangolin.git
至此，所依赖的扩展包都下载完毕。接下来逐个编译安装。
二、安装编译
1.安装opencv
cd opencv
mkdir build
cd build
cmake .. -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local
make -j4
make install
2.安装Eigen3.1.0
cd ~/Orb_Slamv3
tar -xzvf eigen-3.1.0.tar.gz
mv eigen-3.1.0 /usr/local/include/eigen3
cd /usr/local/include
cp eigen3/Eigen ./ -r
3.安装Pangolin
sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt install libpython2.7-dev
git submodule init && git submodule update
sudo python -mpip install numpy pyopengl Pillow pybind11
sudo apt install pkg-config
sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols
sudo apt install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
sudo apt install libdc1394-22-dev libraw1394-dev
sudo apt install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
cd ~/Orb_Slamv3/Pangolin
mkdir build
cd build
cmake ..
make -j4
make install
4.安装 ORB SLAMv3
在ORBSLAM3目录下CMakeList.txt中做如下修改屏蔽
include_directories("/usr/local/include/eigen3") #新增
#find_package(Eigen3 3.1.0 REQUIRED) #屏蔽
find_package(Pangolin REQUIRED)
find_package(realsense2)
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/include/CameraModels
#${EIGEN3_INCLUDE_DIR} #屏蔽
${Pangolin_INCLUDE_DIRS}
)
在ORBSLAM3/Thirdparty/g2o/CMakeList.txt中做如下修改
# Find Eigen3
#SET(EIGEN3_INCLUDE_DIR ${G2O_EIGEN3_INCLUDE}) #屏蔽
#FIND_PACKAGE(Eigen3 3.1.0 REQUIRED) #屏蔽
#IF(EIGEN3_FOUND) #屏蔽
# SET(G2O_EIGEN3_INCLUDE ${EIGEN3_INCLUDE_DIR} CACHE PATH "Directory of Eigen3") #屏蔽
#ELSE(EIGEN3_FOUND) #屏蔽
# SET(G2O_EIGEN3_INCLUDE "" CACHE PATH "Directory of Eigen3") #屏蔽
#ENDIF(EIGEN3_FOUND) #屏蔽
include_directories("/usr/local/include/eigen3" ） #新增
# Set up the top-level include directories
INCLUDE_DIRECTORIES(
${g2o_SOURCE_DIR}/core
${g2o_SOURCE_DIR}/types
${g2o_SOURCE_DIR}/stuff
#${G2O_EIGEN3_INCLUDE}) #屏蔽
编译
sudo apt-get install libboost-dev
sudo apt install libssl-dev
cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j
cd ../../g2o
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j
cd ../../../
cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make
三、错误总结：
1.
错误：
/usr/local/include/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h:48:77: error: invalid use of incomplete type ‘struct Eigen::internal::make_unsigned<long long int>’
typedef typename make_unsigned<typename make_integer<Scalar>::type>::type ScalarUI;
解决：修改Eigen为3.1.0版本
2.
错误：
CMakeFiles/ORB_SLAM3.dir/build.make:374: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o] Error 1
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
解决：创建虚拟内存或者增大实际的物理内存，并将所编译命令从make -j 替换为 make
mkdir /opt/images/
rm -rf /opt/images/swap
dd if=/dev/zero of=/opt/images/swap bs=1024 count=6144000
mkswap /opt/images/swap
swapon /opt/images/swap
3.
错误：
/home/rwz/OFFI_ORB/ORB_SLAM3/src/MLPnPsolver.cpp:394:11: error: ‘class Eigen::SparseMatrix<double>’ has no member named ‘setIdentity’
P.setIdentity(); // standard
解决：该函数只是将矩阵初始化I，可暂时屏蔽
4.
错误：
error: no match for ‘operator/’ (operand types are ‘cv::Matx<float, 3, 1>’ and ‘float’) x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);
解决：
将
x3D = x3D_h.get_minor<3,1>(0,0) / x3D_h(3);
改为：
x3D = x3D_h.get_minor<3,1>(0,0) (1/x3D_h(3));
5.
错误：
fatal error: boost/serialization/serialization.hpp: No such file or directory
解决：
sudo apt-get install libboost-dev
6.
错误：
fatal error: openssl/md5.h: No such file or directory
解决：
sudo apt install libssl-dev