[WIP] ORB SLAM 2

1. Pangolin 설치

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout v0.6
cmake -B build
cmake --build build

이거로 하면 ORB SLAM에 패키지 맥이는게 너무 귀찮게함 자꾸 경로 못찾음

cd build && rm -rf *
cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local
make -j
sudo make install

이렇게 해서 해결함

2. opencv

sudo apt update
sudo apt upgrade
sudo apt install build-essential cmake git pkg-config
sudo apt install libjpeg-dev libtiff-dev libpng-dev
sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev
sudo apt install libxvidcore-dev libx264-dev
sudo apt install libgtk-3-dev
sudo apt install libatlas-base-dev gfortran
sudo apt install python3-dev
mkdir opencv && cd opencv
git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git
cd opencv && git checkout 3.2.0
cd ..
cd opencv_contrib && git checkout 3.2.0
cd ..
cd opencv && mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=OFF -D WITH_IPP=OFF -D WITH_1394=OFF -D BUILD_WITH_DEBUG_INFO=OFF -D BUILD_DOCS=OFF -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=OFF -D BUILD_TESTS=OFF -D BUILD_PERF_TESTS=OFF -D WITH_QT=OFF -D WITH_GTK=ON -D WITH_OPENGL=ON -D OPENCV_EXTRA_MODULES_PATH=../OpenCV_contrib/modules -D WITH_V4L=ON  -D WITH_FFMPEG=ON -D WITH_XINE=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D OPENCV_GENERATE_PKGCONFIG=ON -D WITH_CUDA=OFF  -DLAPACKE_INCLUDE_DIR=/usr/include/lapacke ..
make -j
sudo make install
sudo ldconfig

reference

opencv 3.2.0을 깔았는데 안돌아가 슬퍼 눈물나

알고보니
파일이 꺠져서 안되는 것이었다..

3. ROS Noetic

-중략-

그만두고 orbslam3으로 건너갔음