# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
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apt-get update 进行软件更新
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安装一些依赖库
安装 cmake
sudo apt-get install cmake
安装 google-glog + gflags
sudo apt-get install libgoogle-glog-dev
安装 BLAS & LAPACK
sudo apt-get install libatlas-base-dev
安装 SuiteSparse and CXSparse
sudo apt-get install libsuitesparse-dev
安装Pangolin 需先安装三个依赖
Glew：
sudo apt-get install libglew-dev
Boost：
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
Python2 / Python3：
sudo apt-get install libpython2.7-dev
正式安装Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.gitcd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j
opencv依赖
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev
需要注意的是ROS环境搭建时，最好使用镜像，否则会很慢
sudo apt-get install libeigen3-dev
sudo updatedb
我先是按照上边方法安装的，在编译时候遇到Sophus无法编译的问题，
原因是 Sophus需要Eigen3.3.0 以上版本，而默认安装的是3.2.9 坑啊！
下面这个方法完美解决
ubuntu16.04通过sudo apt-get install libeigen3-dev下载的是3.2.9版本，
而目前很多的软件包都需要eigen3.3.0及以上的版本，因此需要升级eigen3,下载地址为：http://eigen.tuxfamily.org/index.php?title=Main_Page
,本文下载的是eigen3.3.5版本，下载完成进入到eigen目录下，安装步骤：
mkdir build
cd build
cmake …
sudo make install
sudo ldconfig -v
# 安装本身是十分简单的
git clone https://gitee.com/lookinz/Sophus.git
cd [ path-to-sophus ]
mkdir build
cd build
cmake ..
make
sudo make install
git clone https://gitee.com/lookinz/Sophus.git // 首先下载代码仓库
cd Sophus
git checkout a621ff
cd [ path-to-sophus ]
mkdir build
cd build
cmake ..
make
sudo make install
开机第一件事一定是更换数据源
至此，ORB-SLAM的环境已经搭建完成，附一个我录的测试双目实时ORB-SLAM算法的视频演示，