Installation and problem handling of ORB_SLAM2 's pangolin

installation and problem handling of ORB_SLAM2 's pangolin

Preface

In this blog, we mainly introduce some problems and solutions in the process of installing the third-party library pangolin required by ORB_SLAM2.

what 1.Pangolin is.

Pangolin is a lightweight, rapid development library for OpenGL display/interaction as well as video input, and the following is the GitHub Web site for pangolin:

Https://github.com/stevenlovegrove/Pangolin

2. Why should we use pangolin? Where you can use the pangolin.

There is a need for pangolin support in ORB_SLAM2.

3. Installation process.

It's easy to follow the tutorials above GitHub (Https://github.com/stevenlovegrove/Pangolin).

(1) Install some necessary libraries:

Glew:

sudo apt-get install Libglew-dev

CMake:

sudo apt-get install CMake

Boost:

sudo apt-get install Libboost-dev libboost-thread-dev Libboost-filesystem-dev

Python2/python3:

sudo apt-get install Libpython2.7-dev

(2) After installing the above dependencies, you can start to install the pangolin, the installation process is very simple:

git clone https://github.com/stevenlovegrove/Pangolin.git
CD Pangolin
mkdir build
CD build
CMake-
dcpp11_no_boost=1. Make-j

(3) At this point, you may encounter the following problems:

You look very big, don't you? It doesn't matter, just see the key content in the error message is good.

The most important errors are related to openni.h and XnCppWrapper.h.

When we compile pangolin here, we do not need to use Openni, which can be masked at compile time:

CD pangolin/src
vim CMakeLists.txt (choose your favorite editor here)

See the Openni and OpenNI2 sections here, and comment them all out.

After that, recompile pangolin:

Make-j

When you see this screen, congratulations, pangolin has been installed successfully.