1. 安装opencv 2.4.9

下载opencv2.4.9

apt-get install build-essential  apt-get install libgtk2.0-dev libavcodec-dev libavformat-dev libtiff4-dev  libswscale-dev libjasper-dev  apt-get install cmake  apt-get install pkg-config  进入安装包文件：  mkdir release  cd release  cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D  WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D  INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D  WITH_QT=ON -D WITH_OPENGL=ON -D WITH_CUDA=OFF ..  make -j8  make install  sh -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'  ldconfig 

2. pangolin安装

git clone https://github.com/stevenlovegrove/Pangolin  apt-get install libglew-dev  apt-get install cmake  apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev  cd Pangolin  mkdir build  cd build  cmake -DCPP11_NO_BOOST=1 ..  make -j8  make install 

3. 安装dynslam

cd DynSLAM  mkdir build  cd build  cd ../src  git clone https://github.com/gflags/gflags  git clone https://github.com/AndreiBarsan/libviso2-mirror.git  mv libviso2-mirror libviso2 git clone https://github.com/victorprad/InfiniTAM.git rm -rf pfmLib/ git clone https://github.com/AndreiBarsan/pfmLib.git rm -rf Pangolin/ https://github.com/stevenlovegrove/Pangolin.git cd ../build cmake .. make -j8 

出现错误**😗*

fatal error: …/…/InfiniTAM/InfiniTAM/ITMLib/Objects/ITMView.h: No such file or directory

原因, 一定要从DynSlam的git链接中去找对应的依赖库

另外:

有可能源码单词错误:glDrawFrustrum -> glDrawFrustum

opencv需要设置版本, 如果是2.x 要在cmakelist里改对应版本, 中间加个2.