ubuntu16.04安装和运行orb slam

安装ORB-SLAM需要以下步骤：

1. 安装依赖库

sudo apt-get install libglew-dev libjpeg-dev libpng-dev libtiff-dev libvtk6-dev libboost-all-dev libeigen3-dev libgflags-dev libgoogle-glog-dev libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev liblapacke-dev

2. 安装Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j4
sudo make install

3. 安装OpenCV

sudo apt-get install libopencv-dev

4. 下载ORB-SLAM源码

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

5. 编译ORB-SLAM

cd ORB_SLAM2
chmod +x build.sh
./build.sh

6. 运行ORB-SLAM

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /path/to/dataset/sequence/

其中，`/path/to/dataset/sequence/`为数据集的路径，可以在https://vision.in.tum.de/data/datasets/rgbd-dataset/download 下载。