对于视觉SLAM来说，目前主流的开源框架使用较多的莫过于ORB-SLAM
接下来就从零开始搭建开发环境，在UBUNTU上运行ORB-SLAM需要一些支持包：
1、git
sudo apt-get install git
2、cmake
sudo apt-get install cmake
3、Pangolin
sudo apt-get install libglew-dev libpython2.7-dev git clone https://github.com/stevenlovegrove/Pangolin.git cd Pangolin mkdir build cmake .. make sudo make install
4、Opencv 2.4.11
sudo apt-get install build-essential apt-get install cmake git libgtk2.0-dev pkg-config lib sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev cd opencv-2.4.11 mkdir build cd build sudo cmake .. -D CMAKE_BUILD_TYPE=Release -DCUDA_nppi_LIBRARY=true =DWITH_CUDA=OFF -DBUILD_TIFF=ON make sudo make install
5、Eigen3
sudo apt-get install libeigen3-dev
6、DBoW2
7、g2o
8、ORB_SLAM
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh
编译中遇到问题：
1、error:linux/videodev.h : no such file or directory
sudo apt-get install libv4l-dev
sudo ln -s /usr/include/libv4l1-videodev.h /usr/include/linux/videodev.h
2、/home/jim/beantechs/VSLAM/opencv-2.4.11/modules/contrib/src/rgbdodometry.cpp:65:47: fatal error: unsupported/Eigen/MatrixFunctions: No such file or directory
# include <unsupported/Eigen/MatrixFunctions>
找到Eigen3的目录，搜索MatrixFunctions，拷贝整个unsupported目录到/home/jim/beantechs/VSLAM/opencv-2.4.11/modules/contrib/src/目录下
或是将对应的文件夹复制到/usr/include/下，举例Eigen安装到了/usr/include/eigen3/，则执行：
$ cd /usr/include/eigen3/
$ sudo cp -r unsupported/ ..
$ sudo cp -r Eigen/ ..3、ORB_SLAM2/src/LocalMapping.cc:108:20: error: ‘usleep’ was not declared in this scope
usleep(3000)
打开相应的代码，在头文件里面添加usleep 的头文件unistd.h
4、运行脚本：
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/MH01.txt
附：orb-slam2中关键点提取与Opencv原生对比：左为orb-slam2，右：opencv
ROS安装
1、sudo apt-get install ros-melodic-desktop-full
2、sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
3、sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
4、sudo apt install rospack-tools
5、sudo rosdep init
6、rosdep update
7、echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
8、sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
9、roscore
10、rosrun turtlesim turtle_teleop_key