Semi-dense SLAM安裝及運行

1.安裝依賴

sudo apt-get install libblas-dev liblapack-dev liblapacke-dev
CGAL:
sudo apt-get install libcgal-dev 
sudo apt-get install libcgal-qt5-dev
sudo apt-get remove libcgal-dev
Boost:
sudo apt-get install libboost-all-dev

2.在CMakeLists.txt 加上：

find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})

3.打開/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h

//typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;

改爲：

typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;

4.安裝

chmod +x build.sh
./build.sh

5.運行數據集：

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.bin Examples/Monocular/TUM1.yaml /home/hong/SLAM/rgbd_dataset_freiburg1_desk

參考自：
https://github.com/shidahe/semidense-lines