ubuntu20.04 安裝vins

要在Ubuntu 20.04上安装VINS（Visual-Inertial Navigation System），您可以按照以下步骤操作：

1. 安装依赖项：

   sudo apt-get install cmake git libeigen3-dev libboost-all-dev libopencv-dev 

2. 克隆VINS-公共库：

   git clone https://github.com/HKUST-Aerial-Robotics/VINS-Mono.git

3. 安装DBoW2：

   cd VINS-Mono/3rdparty/DBoW2/
   mkdir build && cd build
   cmake .. && make -j4
   sudo make install

4. 安装g2o：

   cd ../../../3rdparty/g2o/
   mkdir build && cd build
   cmake .. && make -j4
   sudo make install

5. 安装Pangolin：

   sudo apt-get install libglew-dev
   sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
   cd ../../../3rdparty/Pangolin/
   mkdir build && cd build
   cmake .. && make -j4
   sudo make install

6. 编译并运行VINS-Mono：

   cd ../../../build/
   cmake .. && make -j4