ORB_SLAMv2安装

安装必备软件：

（1）更新apt库

sudo apt-get update

   
（2）安装git

sudo apt-get install git

（3）安装cmake

sudo apt-get install cmake

（4）安装Eigen 3.2
下载Eigen下载地址(http://eigen.tuxfamily.org/index.php?title=Main_Page)，进入到在解压后的Eigen文件夹（例如eigen-eigen-07105f7124f9）下

mkdir build
cd build
cmake ..
make
sudo make install

（5）安装Pangolin(https://github.com/stevenlovegrove/Pangolin)

（6）安装BLAS and LAPACK库

sudo apt-get install libblas-dev
sudo apt-get install liblapack-dev

3.安装ORB_SLAM：
（1）Clone the repository:

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2


（2）编译：

cd ORB_SLAM2
chmod +x build.sh
常见问题解决：

error: ‘usleep’ was not declared in this scope usleep(3000);

 需要打开相应的代码，在Frame.h头文件里面添加usleep 的头文件unistd.h，问题就解决了！

ubuntu16.04编译ORBSLAM2问题解决

在编译ubuntu16.04ros包的时候出现以下问题

 出错原因为：libboost_system.so 与libboost_filesystem.so找不到链接目录
- 解决方案为查找所在目录

locate  boost_system

locate boost_filesystem

将libboost_system.so与libboost_filesystem.so复制到ORB_SLAM2/lib下，并且将ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入库目录，具体在

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
)

后面追加

${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so 

${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so

问题得以解决