ORBSLAM2（一） 安装

安裝ＯＰＥＮＧＬ

 

sudo apt-get install build-essential libgl1-mesa-dev　freeglut3-dev libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev
sudo apt-get install mesa-common-dev
sudo apt-get install mesa-utils
sudo apt-get install glxinfo

找一段測試ＯＰＥＮＧＬ程序運行看是否可以 ,發現不行

 

　　glxinfo | grep OpenGL　
　　出现错误：Error: couldn't find RGB GLX visual or fbconfig

 

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解决：　

　　sudo apt-get install xserver-xorg-core

        sudo apt-get install xserver-xorg

 

   sudo dpkg-reconfigure xserver-xorg
   sudo reboot

 

 

 

 

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install xorg

 

 

 

遇到的問題：

１．Terminate called after throwing an instance of 'std::runtime_error'
  what():  Pangolin X11: Unable to retrieve framebuffer options
Aborted (core dumped)

需要安裝Ｘ

 

sudo apt-get install xorg openbox

 

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VTK 安裝

 

ORBSLAM2:https://github.com/raulmur/ORB_SLAM2#fork-destination-box

Pangolin     :https://github.com/stevenlovegrove/Pangolin

sudo apt-get install libglew-dev

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