orb-slam3安装
时间: 2023-09-28 09:09:46 浏览: 51
ORB-SLAM3是一种用于单目、双目和RGB-D相机的实时SLAM系统,可以用于室内和室外环境。以下是在Ubuntu 18.04上安装ORB-SLAM3的步骤:
1. 安装依赖项:
```
sudo apt-get install build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libdc1394-22-dev libeigen3-dev libboost-all-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev libglew-dev qtbase5-dev libvtk6-dev
```
2. 克隆ORB-SLAM3仓库:
```
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3
cd ORB_SLAM3
```
3. 安装DBoW2和g2o库(ORB-SLAM3的依赖项):
```
./build.sh
```
4. 编译ORB-SLAM3:
```
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j
```
5. 下载ORB-SLAM3的Vocabulary文件:
```
cd ..
mkdir Vocabulary
cd Vocabulary
wget https://github.com/UZ-SLAMLab/ORB_SLAM3/releases/download/v1.0.0/orbslam3_vocab.zip
unzip orbslam3_vocab.zip
```
至此,ORB-SLAM3已经安装完毕。可以使用ORB-SLAM3进行SLAM,具体使用方法可以参考官方文档。