ORB-SLAM2安装错误解决

问题：

配置ORB-SLAM2时，运行 cmake .. -DCMAKE_BUILD_TYPE=Release
出现找不到CHOLMOD_INCLUDE_DIR与CHOLMOD_LIBRARY的错误，如下所示：

[email protected]:~/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/build$ cmake .. -DCMAKE_BUILD_TYPE=Release
Build type: Release
-- Using flag -std=c++11.
[FindCholmod.cmake] CHOLMOD_INCLUDE_DIR: CHOLMOD_INCLUDE_DIR-NOTFOUND
-- Could NOT find CHOLMOD (missing: CHOLMOD_INCLUDE_DIR CHOLMOD_LIBRARIES) 
CHOLMOD_INCLUDE_DIR: CHOLMOD_INCLUDE_DIR-NOTFOUND
EIGEN3_INCLUDE_DIR: /usr/local/include/eigen3
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CHOLMOD_INCLUDE_DIR
   used as include directory in directory /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion
   used as include directory in directory /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion
   used as include directory in directory /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion
   used as include directory in directory /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion
   used as include directory in directory /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion
CHOLMOD_LIBRARY
    linked by target "ORB_SLAM2_FUSION" in directory /home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion

-- Configuring incomplete, errors occurred!
See also "/home/hri/rosbuild_ws/package_dir/ORB_SLAM2_Fusion/build/CMakeFiles/CMakeOutput.log".

解决办法：

安装libcholmod3与libsuitesparse，指令如下：

sudo apt-get install libcholmod3
sudo apt-get install libsuitesparse-dev