从ubuntu系统安装到ORB_SLAM2安装再到evo评测工具安装全过程

1. ubuntu安装

/ 	    100G左右 	ext4 	主分区
swap 	物理内存两倍 	swap 	逻辑分区
/boot 	1G 	        ext4 	逻辑分区
/home 	260G左右 	ext4 	逻辑分区

2. ubuntu基本配置

//换成国内源
sudo apt-get update
sudo apt-get install git
sudo apt-get install cmake

3. evo安装

pip install --editable . --upgrade --no-binary evo -i https://pypi.tuna.tsinghua.edu.cn /simple 
//关机重启
sudo apt-get install tk-dev
sudo apt-get install python-tk

4. pangolin安装

sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev
mkdir build
cd build
cmake ..
make -j32

5. eigen安装

sudo apt-get install libeigen3-dev 

6. opecv3.4.1+contrib 安装

//依赖
sudo apt-get install build-essential
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
//编译
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release –D CMAKE_INSTALL_PREFIX=/usr/local   -D OPENCV_EXTRA_MODULES_PATH=/home/lgt/workspace/opencv-3.4.1/opencv_contrib/modules/ ..
make –j32
sudo make install
//配置系统环境
sudo gedit /etc/ld.so.conf.d/opencv.conf 
//输入
/usr/local/lib  
//结束
sudo ldconfig  
sudo gedit /etc/bash.bashrc  
//输入
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH
//结束
source /etc/bash.bashrc  
sudo updatedb    

7. ORB_SLAM2安装

chmod +777 build.sh
./build.sh

参考文献

ubuntu 14.04 64位 安装Opencv3.4.1 （包含opencv_contrib模块）