orb 裝在樹梅派
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opencv
---
http://zhaoxuhui.top/blog/2018/06/27/SLAMEnvironment.html

Pangolin
---
安装Pangolin v0.5的版本
https://blog.csdn.net/BigHandsome2020/article/details/123458612

error: ‘CODEC_FLAG_GLOBAL_HEADER’ was not declared in this scope; did you mean ‘AV_CODEC_FLAG_GLOBAL_HEADER’?
error: ‘AVFMT_RAWPICTURE’ was not declared in this scope
https://blog.csdn.net/Robert_Q/article/details/121690089

build_ros.sh
---

# build For ORB-SLAM3
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/dpds/ORB_SLAM3/Examples/ROS
build_ros.sh

CMakeLists.txt

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
換成
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
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AR全部註解
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find_package(OpenCV 3.0 QUIET) 換成 4.0
//我在pc端上3.0是可以的,4.0反而不行 可能是ros版本的關係
fatal error: sophus/se3.hpp: No such file or directory #include <sophus/se3.hpp>
https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/491

測試
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| | fps |
| -------- | -------- |
|raspberry pi4 | 10~12 |
|raspberry pi4 GUI | 7~9 (4~6) |
|PC(i7-9700k) GUI | 50 up |

ORB-SLAM ROS SAVEMAP
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> To ROS example source code, rebuild examples, and after your .bag file ends do
> **rosnode kill -a** to stop all nodes and start saving trajectory data

https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/204#issuecomment-740486201