Jetson Tx2下ORBSLAM2的安装

Jetson tx2 ubuntu 16.04 ROS: Kinetic

切换到主目录下

安装Pangolin：

https://github.com/stevenlovegrove/Pangolin

sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libpython2.7-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j

安装Opencv：

nvidia@tegra-ubuntu:~/ORB_SLAM2$ opencv_version
3.2.0-dev

Jetpack自动安装好了opencv 3.2 ，由于使用的是ROS Kinetic所以opencv的版本不用更改；

安装Eigen3：

http://eigen.tuxfamily.org/index.php?title=Main_Page

sudo apt-get install libeigen3-dev 

建立ORB和G2O，DBoW2安装：

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

安装DBoW2

cd ORB_SLAM2/Thirdparty/DBoW2/
mkdir build
cd build
cmake ..
make

安装g2o

cd ../g2o
mkdir build
cd build
cmake ..
make

建立ORB_slam2

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/nvidia/ORB_SLAM2/Examples/ROS
cd ORB_SLAM2/
./build_ros.sh

大功告成！！！

*处江湖之远，再见哦！
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