筆者最近在調(diào)試ORB-SLAMV2 在編譯過(guò)程中發(fā)現(xiàn),ORB-SLAMV2需要依賴(lài)Pangolin。本文主要用于介紹怎么從源碼安裝Pangolin窃蹋。
· 準(zhǔn)備工作
sudo apt install git
sudo apt install libglew-dev
sudo apt install cmake
sudo apt install libboost-dev libboost-thread-dev libboost-filesystem-dev
· 下載源碼
git clone --depth=1 https://github.com/stevenlovegrove/Pangolin
· 編譯和安裝
mkdir -p build && cd build
cmake ..
make -j4 && sudo make install
編譯成功的提示
Scanning dependencies of target VideoConvert
[ 95%] Building CXX object tools/VideoConvert/CMakeFiles/VideoConvert.dir/main.cpp.o
[ 96%] Linking CXX executable SimpleDisplay
[ 97%] Linking CXX executable SharedMemoryCamera
[ 97%] Built target SimpleDisplay
[ 98%] Linking CXX executable VideoViewer
[ 98%] Built target SharedMemoryCamera
[ 98%] Built target VideoViewer
[100%] Linking CXX executable VideoConvert
[100%] Built target VideoConvert
Tips:
· libglew-dev
是必須的准潭,如果沒(méi)有安裝,在cmake 的時(shí)候就會(huì)報(bào)錯(cuò)腔丧;
· Doxygen
不是必須的放椰,有它可以生成Pangolin的說(shuō)明文檔;
· 下載源碼時(shí)git clone
命令后面加的--depth=1
參數(shù)用于控制只克隆最新版本的代碼而不下載歷史記錄愉粤,可以幫助我們節(jié)約clone的時(shí)間砾医;
· make -j4
可以多線程編譯,縮短編譯的時(shí)間衣厘,j4
說(shuō)明是4個(gè)線程同時(shí)編譯如蚜,這里主要根據(jù)CPU的內(nèi)核數(shù)量來(lái)修改,如果CPU是8核,那么就可以改寫(xiě)成make -j8
错邦;
感謝:
· 感謝高博的帖子中說(shuō)到Pangolin是必須的涎显,節(jié)約了我大量的時(shí)間:http://www.cnblogs.com/gaoxiang12/p/4462518.html
· 本文書(shū)寫(xiě)主要參考了Pangolin的Github項(xiàng)目說(shuō)明:
https://github.com/stevenlovegrove/Pangolin
· 在Pangolin的項(xiàng)目主頁(yè)上沒(méi)有說(shuō)明編譯以后如何安裝,我在余暉亮前輩的博客中確認(rèn)了需要用sudo make install
來(lái)安裝:http://blog.csdn.net/u012986684/article/details/52860849