{"id":1077,"date":"2024-06-23T23:31:15","date_gmt":"2024-06-23T14:31:15","guid":{"rendered":"https:\/\/elosove.com\/?p=1077"},"modified":"2024-06-24T09:11:43","modified_gmt":"2024-06-24T00:11:43","slug":"orb-slam3%e3%82%92ubuntu22-04wsl2%e3%81%a7%e3%83%93%e3%83%ab%e3%83%89%e3%81%99%e3%82%8b","status":"publish","type":"post","link":"https:\/\/elosove.com\/?p=1077","title":{"rendered":"ORB-SLAM3\u3092Ubuntu22.04[WSL2]\u3067\u30d3\u30eb\u30c9\u3059\u308b"},"content":{"rendered":"\n<p>ORB-SLAM\u3068\u3044\u3046\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u30927,8\u5e74\u524d\u306b\u52d5\u304b\u3057\u3066\u904a\u3093\u3060\u8a18\u61b6\u304c\u3042\u308b\u306e\u3067\u3059\u304c\u3001\u73fe\u5728\u3067\u306f\u30d0\u30fc\u30b8\u30e7\u30f3\uff13\u307e\u3067\u51fa\u3066\u3044\u308b\u305d\u3046\u306a\u306e\u3067\u77e5\u8b58\u3092\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3059\u308b\u70ba\u306b\u30d3\u30eb\u30c9\u3057\u3066\u904a\u3093\u3067\u307f\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<p>Windows\u306eWSL2\u3092\u4f7f\u3063\u3066\u884c\u3063\u3066\u307f\u305f\u306e\u3067\u3059\u304c\u601d\u3063\u305f\u3088\u308a\u3082\u82e6\u52b4\u3057\u305f\u306e\u3067\u8a18\u9332\u306b\u6b8b\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p><\/p>\n\n\n\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_71 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/elosove.com\/?p=1077\/#%E7%92%B0%E5%A2%83\" title=\"\u74b0\u5883\">\u74b0\u5883<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/elosove.com\/?p=1077\/#ORB-SLAM3%E3%81%A8%E3%81%AF\" title=\"ORB-SLAM3\u3068\u306f\">ORB-SLAM3\u3068\u306f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/elosove.com\/?p=1077\/#WSL%E3%81%A7Ubuntu%E3%82%92%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB%E3%81%99%E3%82%8B\" title=\"WSL\u3067Ubuntu\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\">WSL\u3067Ubuntu\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/elosove.com\/?p=1077\/#Pangolin%E3%81%AE%E3%83%93%E3%83%AB%E3%83%89\" title=\"Pangolin\u306e\u30d3\u30eb\u30c9\">Pangolin\u306e\u30d3\u30eb\u30c9<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/elosove.com\/?p=1077\/#OpenCV%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" title=\"OpenCV\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\">OpenCV\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/elosove.com\/?p=1077\/#Tag_320%E3%81%AE%E5%A0%B4%E5%90%88_ORB-SLAM3_v04-beta%E7%94%A8\" title=\"Tag 3.2.0\u306e\u5834\u5408 [ORB-SLAM3 v0.4-beta\u7528]\">Tag 3.2.0\u306e\u5834\u5408 [ORB-SLAM3 v0.4-beta\u7528]<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/elosove.com\/?p=1077\/#sleep_for%E3%82%A8%E3%83%A9%E3%83%BC%E5%AF%BE%E5%BF%9C_build_fails_with_gcc_1100_19244\" title=\"sleep_for\u30a8\u30e9\u30fc\u5bfe\u5fdc : [build fails with gcc 11.0.0&nbsp;#19244]\">sleep_for\u30a8\u30e9\u30fc\u5bfe\u5fdc : [build fails with gcc 11.0.0&nbsp;#19244]<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/elosove.com\/?p=1077\/#CMake_Error_at_cmakeOpenCVCompilerOptionscmake_21_else_Flow_control_statements_are_not_properly_nested_%E3%82%A8%E3%83%A9%E3%83%BC_git_issue\" title=\"CMake Error at cmake\/OpenCVCompilerOptions.cmake:21 (else): Flow control statements are not properly nested. \u30a8\u30e9\u30fc : [git issue]\">CMake Error at cmake\/OpenCVCompilerOptions.cmake:21 (else): Flow control statements are not properly nested. \u30a8\u30e9\u30fc : [git issue]<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/elosove.com\/?p=1077\/#ffmpeg%E3%81%AEcap_ffmpeg_implhpp%E3%83%95%E3%82%A1%E3%82%A4%E3%83%ABundeclared%E7%B3%BB%E3%82%A8%E3%83%A9%E3%83%BC_git_issue\" title=\"ffmpeg\u306ecap_ffmpeg_impl.hpp\u30d5\u30a1\u30a4\u30ebundeclared\u7cfb\u30a8\u30e9\u30fc : [git issue]\">ffmpeg\u306ecap_ffmpeg_impl.hpp\u30d5\u30a1\u30a4\u30ebundeclared\u7cfb\u30a8\u30e9\u30fc : [git issue]<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/elosove.com\/?p=1077\/#Tag_455%E3%81%AE%E5%A0%B4%E5%90%88_ORB-SLAM3_v10-release%E7%94%A8\" title=\"Tag 4.5.5\u306e\u5834\u5408 [ORB-SLAM3 v1.0-release\u7528]\">Tag 4.5.5\u306e\u5834\u5408 [ORB-SLAM3 v1.0-release\u7528]<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/elosove.com\/?p=1077\/#Eigen3%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\" title=\"Eigen3\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\">Eigen3\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/elosove.com\/?p=1077\/#ORB-SLAM3%E3%81%AE%E3%83%93%E3%83%AB%E3%83%89\" title=\"ORB-SLAM3\u306e\u30d3\u30eb\u30c9\">ORB-SLAM3\u306e\u30d3\u30eb\u30c9<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/elosove.com\/?p=1077\/#Compile_time_error_fix_cv_Matx_float_312_v04%E7%94%A8\" title=\"Compile time error fix:&nbsp;cv::Matx \/ float&nbsp;#312 [v0.4\u7528]\">Compile time error fix:&nbsp;cv::Matx \/ float&nbsp;#312 [v0.4\u7528]<\/a><\/li><\/ul><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/elosove.com\/?p=1077\/#%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E3%83%87%E3%83%BC%E3%82%BF%E3%82%92%E4%BD%BF%E3%81%A3%E3%81%9F%E5%8B%95%E4%BD%9C%E7%A2%BA%E8%AA%8D\" title=\"\u30b5\u30f3\u30d7\u30eb\u30c7\u30fc\u30bf\u3092\u4f7f\u3063\u305f\u52d5\u4f5c\u78ba\u8a8d\">\u30b5\u30f3\u30d7\u30eb\u30c7\u30fc\u30bf\u3092\u4f7f\u3063\u305f\u52d5\u4f5c\u78ba\u8a8d<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/elosove.com\/?p=1077\/#Loading_images_for_sequence_0%E2%80%A6LOADED%E3%81%A7%E6%AD%A2%E3%81%BE%E3%82%8B\" title=\"Loading images for sequence 0&#8230;LOADED!\u3067\u6b62\u307e\u308b\">Loading images for sequence 0&#8230;LOADED!\u3067\u6b62\u307e\u308b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/elosove.com\/?p=1077\/#gtk-warning_cannot_open_display\" title=\"gtk-warning cannot open display\">gtk-warning cannot open display<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-17\" href=\"https:\/\/elosove.com\/?p=1077\/#Pangolin_X11_Failed_to_open_X_display\" title=\"Pangolin X11: Failed to open X display\">Pangolin X11: Failed to open X display<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-18\" href=\"https:\/\/elosove.com\/?p=1077\/#malloc_unsorted_double_linked_list_corrupted\" title=\"malloc(): unsorted double linked list corrupted\">malloc(): unsorted double linked list corrupted<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-19\" href=\"https:\/\/elosove.com\/?p=1077\/#Fail_to_track_local_map%E3%81%A7%E6%AD%A2%E3%81%BE%E3%82%8B\" title=\"Fail to track local map!\u3067\u6b62\u307e\u308b\">Fail to track local map!\u3067\u6b62\u307e\u308b<\/a><\/li><\/ul><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%92%B0%E5%A2%83\"><\/span>\u74b0\u5883<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<blockquote class=\"wp-block-quote is-layout-flow wp-block-quote-is-layout-flow\">\n<p>Windows : 10 \/ 11<br>WSL2 : Ubuntu 22.04<br>ORB-SLAM3 : v1.0-release \/ v0.4-beta<br>OpenCV : v1.0\u7528 4.5.5 \/ v0.4\u7528 3.2.0<br>Pangolin : 0.9.1<br>Eigen3 : 3.4.0<\/p>\n<\/blockquote>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"600\" style=\"aspect-ratio: 800 \/ 600;\" width=\"800\" controls src=\"https:\/\/elosove.com\/wp-content\/uploads\/2024\/06\/orb-slam3.mp4\"><\/video><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"ORB-SLAM3%E3%81%A8%E3%81%AF\"><\/span>ORB-SLAM3\u3068\u306f<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>arXiv : <a href=\"https:\/\/arxiv.org\/abs\/2007.11898\">link<\/a><\/li>\n\n\n\n<li>git : <a href=\"https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3\">link<\/a><\/li>\n<\/ul>\n\n\n\n<p>\u3056\u3063\u304f\u308a\u7406\u89e3\u3067\u306fIMU\u30c7\u30fc\u30bf\u5bfe\u5fdc\u3068\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u4fee\u6b63\u306b\u3088\u308a\u5927\u5e45\u306b\u6027\u80fd\u304c\u5411\u4e0a\u3057\u305f\u30d0\u30fc\u30b8\u30e7\u30f3\u3060\u305d\u3046\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3061\u306a\u307f\u306b\u521d\u4ee3\u30682\u3068\u306e\u9055\u3044\u306f\u4e0b\u8a18\u8a18\u4e8b\u3067\u8a73\u3057\u304f\u307e\u3068\u3081\u3089\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/qiita.com\/RyeWiskey\/items\/fbc05834084c552a764d\">\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u3092\u901a\u3057\u3066\uff1aORB-SLAM2\u306b\u3088\u308b\u9769\u65b0\u7684\u306a\u4e16\u754c\u8a8d\u8b58<\/a><\/li>\n<\/ul>\n\n\n\n<p>ORB-SLAM3\u306e\u30d3\u30eb\u30c9\u60c5\u5831<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><a href=\"https:\/\/handaru.net\/blog\/2022\/09\/15\/376\/#:~:text=4.1%20%E9%96%A2%E9%80%A3-,ORB%2DSLAM3%E3%81%AB%E3%81%A4%E3%81%84%E3%81%A6,%E3%82%BD%E3%83%95%E3%83%88%E3%82%A6%E3%82%A7%E3%82%A2%E3%81%AE%E6%9C%80%E6%96%B0%E3%83%90%E3%83%BC%E3%82%B8%E3%83%A7%E3%83%B3%E3%81%A7%E3%81%99%E3%80%82\">ubuntu20.04\u306bORB-SLAM3\u3092\u5c0e\u5165\u3059\u308b<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/ma38su.hatenablog.com\/entry\/2021\/06\/21\/002240\">ORB SLAM3\u3092noetic\/ROS\u3067\u30d3\u30eb\u30c9\u3057\u3066\u52d5\u4f5c\u78ba\u8a8d\u3059\u308b\u3002<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/qiita.com\/nabeya11\/items\/a395206ea6516b24eec0\">ORB-SLAM3\u3092ROS1\u3067\u4f7f\u3046\u305f\u3081\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\u307e\u3067<\/a><\/li>\n\n\n\n<li><a href=\"http:\/\/blog.livedoor.jp\/tmako123-programming\/archives\/55298177.html\">ORB-SLAM3\u3092Docker\u4e0a\u3067\u52d5\u304b\u3059<\/a><\/li>\n\n\n\n<li><a href=\"https:\/\/wooolwoool.hatenablog.com\/entry\/2022\/07\/16\/131454\">WSL\u3067ORB SLAM3\u3092\u52d5\u304b\u3059\uff08\u5b8c\u6210\u7248\uff09<\/a><\/li>\n<\/ul>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"WSL%E3%81%A7Ubuntu%E3%82%92%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB%E3%81%99%E3%82%8B\"><\/span>WSL\u3067Ubuntu\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>DL\u53ef\u80fd\u306a\u30ea\u30b9\u30c8\u3092\u78ba\u8a8d<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"wsl --list --online\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">wsl<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--list<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--online<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u30d0\u30fc\u30b8\u30e7\u30f3\u3092\u6307\u5b9a\u3057\u3066\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3057\u307e\u3059\u304c\u3001Ubuntu-20.04\u306f\u304a\u52e7\u3081\u3057\u307e\u305b\u3093\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"wsl --install -d Ubuntu-22.04\n\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">wsl<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-d<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">Ubuntu-22.04<\/span><\/span>\n<span class=\"line\"><\/span><\/code><\/pre><\/div>\n\n\n\n<p><strong>\u6ce81<\/strong>\uff1aUbuntu-20.04\u3067\u306fORB\u30b3\u30f3\u30d1\u30a4\u30eb\u6642\u306bpthread\u306e\u53c2\u7167\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u306e\u306722.04\u3092\u9078\u3073\u307e\u3057\u305f\u3002<br><strong>\u6ce8\uff12<\/strong>\uff1aORB-SLAM3\u304c\u5229\u7528\u3059\u308bpangolin\u306fUbuntu-20.04\u3067\u306f\u30d3\u30eb\u30c9\u30a8\u30e9\u30fc\u304c\u8d77\u304d\u307e\u3059\u3002[<a href=\"https:\/\/github.com\/stevenlovegrove\/Pangolin\/issues\/913\">Build failed on ubuntu20.04&nbsp;#913<\/a>]<\/p>\n\n\n\n<p>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u5b8c\u4e86\u5f8c\u3001\u518d\u8d77\u52d5\u304c\u6c42\u3081\u3089\u308c\u305f\u308a\u6c42\u3081\u3089\u308c\u306a\u304b\u3063\u305f\u308a\u3057\u307e\u3059\u3002<br>(\u79c1\u306e\u5834\u5408\u306fWindows11\u3067\u521d\u56de\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u6642\u306b\u518d\u8d77\u52d5\u8981\u6c42)<\/p>\n\n\n\n<p>\u30e6\u30fc\u30b6\u30fc\u540d\/\u30d1\u30b9\u30ef\u30fc\u30c9\u3092\u8a2d\u5b9a\u5f8c\u306b\u5ff5\u306e\u305f\u3081\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3092\u3057\u3066\u304a\u304d\u307e\u3059\u3002<br>\u3053\u306e\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3067ORB\u306e\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u8868\u793a\u3055\u308c\u306a\u3044\u554f\u984c\u304c\u89e3\u6c7a\u3059\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"wsl --update\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">wsl<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--update<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>wsl\u306e\u72b6\u614b\u78ba\u8a8d\u30b3\u30de\u30f3\u30c9\u306f\u4e0b\u8a18\u3067\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"#Linux\u7a3c\u50cd\u72b6\u614b\u306e\u78ba\u8a8d\nwsl -l -v\n#Linux\u306e\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3002wsl\u4e0a\u306ecui\u3067shutdown\u3057\u3066\u3082\u6b62\u307e\u3089\u306a\u3044\u5834\u5408\u7528\u3002\nwsl --shutdown\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\">#Linux\u7a3c\u50cd\u72b6\u614b\u306e\u78ba\u8a8d<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">wsl<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-l<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-v<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#Linux\u306e\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u3002wsl\u4e0a\u306ecui\u3067shutdown\u3057\u3066\u3082\u6b62\u307e\u3089\u306a\u3044\u5834\u5408\u7528\u3002<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">wsl<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--shutdown<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u3067\u306e\u64cd\u4f5c\u306f\u4ee5\u4e0a\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u6b21\u306bUbuntu\u306b\u79fb\u52d5\u3057\u3066\u30c4\u30fc\u30eb\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"sudo install gcc g++ ffmpeg cmake git pkg-config\n#\u3044\u3061\u3044\u3061Y\/n\u78ba\u8a8d\u3055\u308c\u308b\u306e\u304c\u5acc\u306a\u5834\u5408\u306f\u4e0b\u8a18\u306e\u901a\u308a-y\u30aa\u30d7\u30b7\u30e7\u30f3\nsudo install -y gcc g++ ffmpeg cmake git pkg-config\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">gcc<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">g++<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">ffmpeg<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">cmake<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">pkg-config<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#\u3044\u3061\u3044\u3061Y\/n\u78ba\u8a8d\u3055\u308c\u308b\u306e\u304c\u5acc\u306a\u5834\u5408\u306f\u4e0b\u8a18\u306e\u901a\u308a-y\u30aa\u30d7\u30b7\u30e7\u30f3<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-y<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">gcc<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">g++<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">ffmpeg<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">cmake<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">pkg-config<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u6700\u7d42\u7684\u306a\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306f\u4e0b\u8a18\u306e\u7528\u306b\u4f5c\u3063\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p><em>SLAM\/ [mkdir]<br>\u3000\u251c ORB-SLAM3\/ [git clone]<\/em><br><em>\u3000\u251c Datasets\/ [mkdir]<br>\u3000\u2514 lib\/ [mkdir]<br>\u3000\u3000\u251cPangolin \/ [git clone]<br>\u3000\u3000\u2514 opencv\/ [git clone]<\/em><\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Pangolin%E3%81%AE%E3%83%93%E3%83%AB%E3%83%89\"><\/span>Pangolin\u306e\u30d3\u30eb\u30c9<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"git clone --recursive https:\/\/github.com\/stevenlovegrove\/Pangolin.git\ncd Pangolin\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">clone<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--recursive<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">https:\/\/github.com\/stevenlovegrove\/Pangolin.git<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cd<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">Pangolin<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>git\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30ac\u30a4\u30c9\u306b\u5f93\u3063\u3066\u30b9\u30af\u30ea\u30d7\u30c8\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\".\/scripts\/install_prerequisites.sh recommended\ncmake -B build\ncmake --build build\nsudo make install\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">.\/scripts\/install_prerequisites.sh<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">recommended<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cmake<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-B<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cmake<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">--build<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">make<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"OpenCV%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>OpenCV\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>OpenCV\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u6ca2\u5c71\u60c5\u5831\u304c\u3042\u308b\u306e\u3067\u3001\u3053\u3053\u3067\u306f\u53c2\u8003\u7a0b\u5ea6\u306b\u8a18\u8f09\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4f9d\u5b58\u30d1\u30c3\u30b1\u30fc\u30b8\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"# Y\/n\u304c\u3081\u3093\u3069\u304f\u3055\u3044\u5834\u5408\u306finstall -y\u30aa\u30d7\u30b7\u30e7\u30f3\u3092\u4ed8\u3051\u308b\nsudo apt install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libswscale-dev libpython2.7-dev libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\"># Y\/n\u304c\u3081\u3093\u3069\u304f\u3055\u3044\u5834\u5408\u306finstall -y\u30aa\u30d7\u30b7\u30e7\u30f3\u3092\u4ed8\u3051\u308b<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">apt<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build-essential<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libgtk2.0-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libavcodec-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libavformat-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libswscale-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libpython2.7-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libtbb2<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libtbb-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libjpeg-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libpng-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libtiff-dev<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"git clone https:\/\/github.com\/opencv\/opencv.git\ncd opencv\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">clone<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">https:\/\/github.com\/opencv\/opencv.git<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cd<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">opencv<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Tag_320%E3%81%AE%E5%A0%B4%E5%90%88_ORB-SLAM3_v04-beta%E7%94%A8\"><\/span>Tag 3.2.0\u306e\u5834\u5408 [ORB-SLAM3 v0.4-beta\u7528]<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u6ce8\uff1aORB-SLAM3\u306ev1.0\u3067\u306fOpenCV\u306e4.4.x\u4ee5\u4e0a\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u304c\u5fc5\u8981\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u30d0\u30fc\u30b8\u30e7\u30f3\u5909\u66f4\u65b9\u6cd5\u306f\u4e0b\u8a18<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"git checkout 3.2.0\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">checkout<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #B5CEA8\">3.2<\/span><span style=\"color: #CE9178\">.0<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>ORB-SLAM3\u3067\u306fC++11\u7cfb\u30b3\u30f3\u30d1\u30a4\u30e9\u3092\u5229\u7528\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30eb\u30fc\u30c8CMakeLists.txt\u306b<br> &#8211; set(CMAKE_CXX_STANDARD 11)<br> &#8211; set(CMAKE_CXX_STANDARD_REQUIRED ON)<br>\u306e\uff12\u884c\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002(\u3082\u3046\u5c11\u3057\u30b9\u30de\u30fc\u30c8\u306a\u3084\u308a\u65b9\u304c\u3042\u308b\u6c17\u304c\u3057\u307e\u3059)<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"# ----------------------------------------------------------------------------\n#  Root CMake file for OpenCV\n#\n#    From the off-tree build directory, invoke:\n#      $ cmake &lt;PATH_TO_OPENCV_ROOT&gt;\n#\n# ----------------------------------------------------------------------------\n\n# Disable in-source builds to prevent source tree corruption.\nif(&quot; ${CMAKE_SOURCE_DIR}&quot; STREQUAL &quot; ${CMAKE_BINARY_DIR}&quot;)\n  message(FATAL_ERROR &quot;\nFATAL: In-source builds are not allowed.\n       You should create a separate directory for build files.\n&quot;)\nendif()\n#---------------------------------------\n# My Change\nset(CMAKE_CXX_STANDARD 11)\nset(CMAKE_CXX_STANDARD_REQUIRED ON)\n#---------------------------------------\ninclude(cmake\/OpenCVMinDepVersions.cmake)\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\"># ----------------------------------------------------------------------------<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#  Root CMake file for OpenCV<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#    From the off-tree build directory, invoke:<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#      $ cmake &lt;PATH_TO_OPENCV_ROOT&gt;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># ----------------------------------------------------------------------------<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># Disable in-source builds to prevent source tree corruption.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">if(<\/span><span style=\"color: #DCDCAA\">&quot; ${<\/span><span style=\"color: #9CDCFE\">CMAKE_SOURCE_DIR<\/span><span style=\"color: #DCDCAA\">}&quot;<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">STREQUAL<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">&quot; ${<\/span><span style=\"color: #9CDCFE\">CMAKE_BINARY_DIR<\/span><span style=\"color: #CE9178\">}&quot;<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">  <\/span><span style=\"color: #DCDCAA\">message(FATAL_ERROR<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">&quot;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #CE9178\">FATAL: In-source builds are not allowed.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #CE9178\">       You should create a separate directory for build files.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #CE9178\">&quot;<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">endif<\/span><span style=\"color: #D4D4D4\">()<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">#---------------------------------------<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\"># My Change<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">set(<\/span><span style=\"color: #DCDCAA\">CMAKE_CXX_STANDARD<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #B5CEA8\">11<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">set<\/span><span style=\"color: #D4D4D4\">(CMAKE_CXX_STANDARD_REQUIRED <\/span><span style=\"color: #CE9178\">ON<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#---------------------------------------<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">include(cmake\/OpenCVMinDepVersions.cmake<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u5f8c\u306fBuild\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u4f5c\u308amake\u3057\u3066\u3044\u304d\u307e\u3059\u3002<br>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30d5\u30a9\u30eb\u30c0\u306f\/user\/local\u306b\u3057\u3066\u3044\u307e\u3059\u304c\u304a\u597d\u307f\u3067\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"mkdir build\ncd build\ncmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=\/usr\/local ..\nmake -j$(nproc)\nsudo make install\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">mkdir<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cd<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cmake<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-D<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">CMAKE_BUILD_TYPE=Release<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-D<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">CMAKE_INSTALL_PREFIX=\/usr\/local<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">..<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">make<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-j<\/span><span style=\"color: #CE9178\">$(<\/span><span style=\"color: #DCDCAA\">nproc<\/span><span style=\"color: #CE9178\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">make<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u305f\u3044\u3066\u3044\u306e\u5834\u5408\u306f\u3059\u3093\u306a\u308a\u3044\u304b\u306a\u3044\u3068\u601d\u3044\u307e\u3059\u306e\u3067\u3001\u4e0b\u8a18\u306b\u79c1\u304c\u906d\u9047\u3057\u305f\u30a8\u30e9\u30fc\u3068\u305d\u306e\u89e3\u6c7a\u7b56\u3092\u8a18\u8f09\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"sleep_for%E3%82%A8%E3%83%A9%E3%83%BC%E5%AF%BE%E5%BF%9C_build_fails_with_gcc_1100_19244\"><\/span>sleep_for\u30a8\u30e9\u30fc\u5bfe\u5fdc : [<a href=\"https:\/\/github.com\/opencv\/opencv\/issues\/19244\">build fails with gcc 11.0.0&nbsp;#19244<\/a>]<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>opencv\/modules\/gapi\/test\/test_precomp.hpp\u306b#include &lt;thread&gt;\u3092\u8ffd\u52a0\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"CMake_Error_at_cmakeOpenCVCompilerOptionscmake_21_else_Flow_control_statements_are_not_properly_nested_%E3%82%A8%E3%83%A9%E3%83%BC_git_issue\"><\/span>CMake Error at cmake\/OpenCVCompilerOptions.cmake:21 (else): Flow control statements are not properly nested. \u30a8\u30e9\u30fc : [<a href=\"https:\/\/github.com\/opencv\/opencv\/issues\/9584\">git issue<\/a>]<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>2.x\u3067\u6f70\u3055\u308c\u305f\u306f\u305a\u306a\u306e\u306b\u4f55\u6545\u304b\u767a\u751f\u3057\u307e\u3057\u305f\u3002<br>\u8981\u3059\u308b\u306bcmake\u30d5\u30a1\u30a4\u30eb\u306eif-else\u306e\u5bfe\u5fdc\u304c\u58ca\u308c\u3066\u3044\u308b\u3060\u3051\u306a\u306e\u3067\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8\u3067\u3054\u308a\u62bc\u3057\u3057\u307e\u3059\u3002(21-22\u884c\u76ee\u3092\u30b3\u30e1\u30f3\u30c8\u30a2\u30a6\u30c8)<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"      if(IS_CCACHE_WORKS)\n        set(CMAKE_COMPILER_IS_CCACHE 1)\n      else()\n        message(STATUS &quot;Unable to compile program with enabled ccache, reverting...&quot;)\n        set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE &quot;${__OLD_RULE_LAUNCH_COMPILE}&quot;)\n      endif()\n    # else()\n    #  message(STATUS &quot;Looking for ccache - not found&quot;)\n    endif()\n  endif()\nendif()\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #569CD6\">      if<\/span><span style=\"color: #D4D4D4\">(IS_CCACHE_WORKS)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">        set<\/span><span style=\"color: #D4D4D4\">(CMAKE_COMPILER_IS_CCACHE 1)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">      else<\/span><span style=\"color: #D4D4D4\">()<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">        message<\/span><span style=\"color: #D4D4D4\">(STATUS <\/span><span style=\"color: #CE9178\">&quot;Unable to compile program with enabled ccache, reverting...&quot;<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">        set_property<\/span><span style=\"color: #D4D4D4\">(GLOBAL PROPERTY RULE_LAUNCH_COMPILE <\/span><span style=\"color: #CE9178\">&quot;${__OLD_RULE_LAUNCH_COMPILE}&quot;<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">      endif<\/span><span style=\"color: #D4D4D4\">()<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #6A9955\"># else()<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #6A9955\">#  message(STATUS &quot;Looking for ccache - not found&quot;)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">    endif<\/span><span style=\"color: #D4D4D4\">()<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">  endif<\/span><span style=\"color: #D4D4D4\">()<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">endif<\/span><span style=\"color: #D4D4D4\">()<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"ffmpeg%E3%81%AEcap_ffmpeg_implhpp%E3%83%95%E3%82%A1%E3%82%A4%E3%83%ABundeclared%E7%B3%BB%E3%82%A8%E3%83%A9%E3%83%BC_git_issue\"><\/span>ffmpeg\u306ecap_ffmpeg_impl.hpp\u30d5\u30a1\u30a4\u30ebundeclared\u7cfb\u30a8\u30e9\u30fc : [<a href=\"https:\/\/github.com\/opencv\/opencv\/issues\/22418\">git issue<\/a>]<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u3053\u308c\u3082\u529b\u6280\u3067\u5ba3\u8a00\u3057\u3066\u3057\u307e\u3044\u307e\u3059[modules\/videoio\/src\/cap_ffmpeg_impl.hpp\u30d5\u30a1\u30a4\u30eb\u5185\u306b\u5ba3\u8a00\u8ffd\u52a0]<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"#include &lt;assert.h&gt;\n#include &lt;algorithm&gt;\n#include &lt;limits&gt;\n\n\/\/ My Change\n#define AV_CODEC_FLAG_GLOBAL_HEADER (1 &lt;&lt; 22)\n#define CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER\n#define AVFMT_RAWPICTURE 0x0020\n\/\/ My Change End\n\n#define CALC_FFMPEG_VERSION(a,b,c) ( a&lt;&lt;16 | b&lt;&lt;8 | c )\n\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #C586C0\">#include<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #CE9178\">&lt;assert.h&gt;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#include<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #CE9178\">&lt;algorithm&gt;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#include<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #CE9178\">&lt;limits&gt;<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ My Change<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#define<\/span><span style=\"color: #569CD6\"> AV_CODEC_FLAG_GLOBAL_HEADER (<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #D4D4D4\">&lt;&lt;<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #B5CEA8\">22<\/span><span style=\"color: #569CD6\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#define<\/span><span style=\"color: #569CD6\"> CODEC_FLAG_GLOBAL_HEADER AV_CODEC_FLAG_GLOBAL_HEADER<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#define<\/span><span style=\"color: #569CD6\"> AVFMT_RAWPICTURE <\/span><span style=\"color: #B5CEA8\">0x0020<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ My Change End<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">#define<\/span><span style=\"color: #569CD6\"> CALC_FFMPEG_VERSION(<\/span><span style=\"color: #9CDCFE\">a<\/span><span style=\"color: #569CD6\">,<\/span><span style=\"color: #9CDCFE\">b<\/span><span style=\"color: #569CD6\">,<\/span><span style=\"color: #9CDCFE\">c<\/span><span style=\"color: #569CD6\">) ( a<\/span><span style=\"color: #D4D4D4\">&lt;&lt;<\/span><span style=\"color: #B5CEA8\">16<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #D4D4D4\">|<\/span><span style=\"color: #569CD6\"> b<\/span><span style=\"color: #D4D4D4\">&lt;&lt;<\/span><span style=\"color: #B5CEA8\">8<\/span><span style=\"color: #569CD6\"> <\/span><span style=\"color: #D4D4D4\">|<\/span><span style=\"color: #569CD6\"> c )<\/span><\/span>\n<span class=\"line\"><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u95a2\u9023\u60c5\u5831\uff1a<a href=\"https:\/\/bbs.archlinux.org\/viewtopic.php?id=241258\">link<\/a><\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Tag_455%E3%81%AE%E5%A0%B4%E5%90%88_ORB-SLAM3_v10-release%E7%94%A8\"><\/span>Tag 4.5.5\u306e\u5834\u5408 [ORB-SLAM3 v1.0-release\u7528]<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30d0\u30fc\u30b8\u30e7\u30f3\u5909\u66f4\u65b9\u6cd5\u306f\u4e0b\u8a18<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"git checkout 4.5.5\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">checkout<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #B5CEA8\">4.5<\/span><span style=\"color: #CE9178\">.5<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>ORB-SLAM3\u3067\u306fC++11\u7cfb\u30b3\u30f3\u30d1\u30a4\u30e9\u3092\u5229\u7528\u3057\u3066\u3044\u308b\u306e\u3067\u3001\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30eb\u30fc\u30c8CMakeLists.txt\u306b<br> &#8211; set(CMAKE_CXX_STANDARD 11)<br> &#8211; set(CMAKE_CXX_STANDARD_REQUIRED ON)<br>\u306e\uff12\u884c\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002(\u3082\u3046\u5c11\u3057\u30b9\u30de\u30fc\u30c8\u306a\u3084\u308a\u65b9\u304c\u3042\u308b\u6c17\u304c\u3057\u307e\u3059)<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"# ----------------------------------------------------------------------------\n#  Root CMake file for OpenCV\n#\n#    From the off-tree build directory, invoke:\n#      $ cmake &lt;PATH_TO_OPENCV_ROOT&gt;\n#\n# ----------------------------------------------------------------------------\n\n# Disable in-source builds to prevent source tree corruption.\nif(&quot; ${CMAKE_SOURCE_DIR}&quot; STREQUAL &quot; ${CMAKE_BINARY_DIR}&quot;)\n  message(FATAL_ERROR &quot;\nFATAL: In-source builds are not allowed.\n       You should create a separate directory for build files.\n&quot;)\nendif()\n#---------------------------------------\n# My Change\nset(CMAKE_CXX_STANDARD 11)\nset(CMAKE_CXX_STANDARD_REQUIRED ON)\n#---------------------------------------\ninclude(cmake\/OpenCVMinDepVersions.cmake)\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\"># ----------------------------------------------------------------------------<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#  Root CMake file for OpenCV<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#    From the off-tree build directory, invoke:<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#      $ cmake &lt;PATH_TO_OPENCV_ROOT&gt;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># ----------------------------------------------------------------------------<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># Disable in-source builds to prevent source tree corruption.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">if(<\/span><span style=\"color: #DCDCAA\">&quot; ${<\/span><span style=\"color: #9CDCFE\">CMAKE_SOURCE_DIR<\/span><span style=\"color: #DCDCAA\">}&quot;<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">STREQUAL<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">&quot; ${<\/span><span style=\"color: #9CDCFE\">CMAKE_BINARY_DIR<\/span><span style=\"color: #CE9178\">}&quot;<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">  <\/span><span style=\"color: #DCDCAA\">message(FATAL_ERROR<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">&quot;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #CE9178\">FATAL: In-source builds are not allowed.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #CE9178\">       You should create a separate directory for build files.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #CE9178\">&quot;<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">endif<\/span><span style=\"color: #D4D4D4\">()<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">#---------------------------------------<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\"># My Change<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">set(<\/span><span style=\"color: #DCDCAA\">CMAKE_CXX_STANDARD<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #B5CEA8\">11<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">set<\/span><span style=\"color: #D4D4D4\">(CMAKE_CXX_STANDARD_REQUIRED <\/span><span style=\"color: #CE9178\">ON<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">#---------------------------------------<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">include(cmake\/OpenCVMinDepVersions.cmake<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u5f8c\u306fBuild\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3092\u4f5c\u308amake\u3057\u3066\u3044\u304d\u307e\u3059\u3002<br>\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u30d5\u30a9\u30eb\u30c0\u306f\/user\/local\u306b\u3057\u3066\u3044\u307e\u3059\u304c\u304a\u597d\u307f\u3067\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"mkdir build\ncd build\ncmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=\/usr\/local ..\nmake -j$(nproc)\nsudo make install\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">mkdir<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cd<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cmake<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-D<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">CMAKE_BUILD_TYPE=Release<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-D<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">CMAKE_INSTALL_PREFIX=\/usr\/local<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">..<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">make<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-j<\/span><span style=\"color: #CE9178\">$(<\/span><span style=\"color: #DCDCAA\">nproc<\/span><span style=\"color: #CE9178\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">make<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>3.x\u7cfb\u3068\u7570\u306a\u308a\u5272\u3068\u3059\u3093\u306a\u308a\u3068\u30d3\u30eb\u30c9\u304c\u901a\u308a\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Eigen3%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%83%88%E3%83%BC%E3%83%AB\"><\/span>Eigen3\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"sudo apt install libeigen3-dev\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">apt<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libeigen3-dev<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"ORB-SLAM3%E3%81%AE%E3%83%93%E3%83%AB%E3%83%89\"><\/span>ORB-SLAM3\u306e\u30d3\u30eb\u30c9<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>ReadMe\u306b\u306fDBoW2\u3068g2o\u3092\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3088\u3046\u6307\u793a\u304c\u3042\u308a\u307e\u3059\u304c\u3001\u5b9f\u969b\u306fbuild.sh\u5185\u3067\u81ea\u52d5\u7684\u306b\u884c\u308f\u308c\u308b\u306e\u3067\u81ea\u524d\u3067\u7528\u610f\u3057\u306a\u304f\u3066\u3082\u5927\u4e08\u592b\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u4f9d\u5b58\u95a2\u4fc2\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"sudo apt install libboost-filesystem-dev libboost-serialization-dev libssl-dev\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">apt<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libboost-filesystem-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libboost-serialization-dev<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">libssl-dev<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"git clone https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3\ncd ORB_SLAM3\ngit checkout v1.0-release\nchmod +x build.sh\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">clone<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cd<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">ORB_SLAM3<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">git<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">checkout<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">v1.0-release<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">chmod<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">+x<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">build.sh<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>CMakeLists.txt\u306e\u4fee\u6b63[<a href=\"https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3\/issues\/458\">git issue : .\/build.sh Error<\/a>]<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"sed -i 's\/++11\/++14\/g' CMakeLists.txt\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">sed<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-i<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">&#39;s\/++11\/++14\/g&#39;<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">CMakeLists.txt<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u30d3\u30eb\u30c9\u5b9f\u884c<br><strong>\u6ce8:<\/strong>v0.4\u3092\u30d3\u30eb\u30c9\u3059\u308b\u5834\u5408\u306fbuild.sh\u3092\u5b9f\u884c\u3059\u308b\u524d\u306b\u4fee\u6b63\u9805\u76ee\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\".\/build.sh\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">.\/build.sh<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Compile_time_error_fix_cv_Matx_float_312_v04%E7%94%A8\"><\/span><a href=\"https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3\/pull\/312\">Compile time error fix:&nbsp;<code>cv::Matx \/ float<\/code>&nbsp;#312<\/a> [v0.4\u7528]<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>src\/LocalMapping.cc\u3068src\/CameraModels\/KannalaBrandt8.cpp\u306e\uff12\u3064\u3092\u4fee\u6b63\u5f8c\u306bbuild.sh\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"\/\/ src\/LocalMapping.cc\u306e628\u884c\u76ee\u3092\u4e0b\u8a18\u306b\u4fee\u6b63\nx3D = x3D_h.get_minor&lt;3,1&gt;(0,0) (1 \/ x3D_h(3));\n\n\/\/ src\/CameraModels\/KannalaBrandt8.cpp\u306e534\u884c\u76ee\u3092\u4e0b\u8a18\u306b\u4fee\u6b63\nx3D = x3D_h.get_minor&lt;3,1&gt;(0,0) (1 \/ x3D_h(3));\n\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\">\/\/ src\/LocalMapping.cc\u306e628\u884c\u76ee\u3092\u4e0b\u8a18\u306b\u4fee\u6b63<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">x3D = x3D_h.get_minor&lt;<\/span><span style=\"color: #B5CEA8\">3<\/span><span style=\"color: #D4D4D4\">,<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">&gt;(<\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">,<\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">) (<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\"> \/ <\/span><span style=\"color: #DCDCAA\">x3D_h<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #B5CEA8\">3<\/span><span style=\"color: #D4D4D4\">));<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ src\/CameraModels\/KannalaBrandt8.cpp\u306e534\u884c\u76ee\u3092\u4e0b\u8a18\u306b\u4fee\u6b63<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">x3D = x3D_h.get_minor&lt;<\/span><span style=\"color: #B5CEA8\">3<\/span><span style=\"color: #D4D4D4\">,<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">&gt;(<\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">,<\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">) (<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\"> \/ <\/span><span style=\"color: #DCDCAA\">x3D_h<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #B5CEA8\">3<\/span><span style=\"color: #D4D4D4\">));<\/span><\/span>\n<span class=\"line\"><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E3%83%87%E3%83%BC%E3%82%BF%E3%82%92%E4%BD%BF%E3%81%A3%E3%81%9F%E5%8B%95%E4%BD%9C%E7%A2%BA%E8%AA%8D\"><\/span>\u30b5\u30f3\u30d7\u30eb\u30c7\u30fc\u30bf\u3092\u4f7f\u3063\u305f\u52d5\u4f5c\u78ba\u8a8d<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>ORB-SLAM3\u306e\u30d3\u30eb\u30c9\u306b\u6210\u529f\u3059\u308b\u3068Examples\u30d5\u30a9\u30eb\u30c0\u306bEuRoC\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30c7\u30fc\u30bf\u5bfe\u5fdc\u306e\u30b5\u30f3\u30d7\u30eb\u304c\u3042\u308b\u306e\u3067\u5b9f\u884c\u3057\u3066\u307f\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"# \u30c7\u30fc\u30bf\u306eDL\nwget -c http:\/\/robotics.ethz.ch\/~asl-datasets\/ijrr_euroc_mav_dataset\/machine_hall\/MH_01_easy\/MH_01_easy.zip\n\n# \u30d5\u30a9\u30eb\u30c0\u4f5c\u6210\nmkdir -p Datasets\/MH01\n\n# \u30c7\u30fc\u30bf\u306e\u89e3\u51cd\u3068\u30b3\u30d4\u30fc\u3002unzip\u304c\u7121\u3044\u5834\u5408\u306fsudo apt install unzip\u5f8c\nunzip MH_01_easy.zip -d Datasets\/MH01\n\n# SLAM\u30d5\u30a9\u30eb\u30c0\u3078\u79fb\u52d5\ncd ORB-SLAM3\n\n# ORB-SLAM3\u5b9f\u884c\n.\/Examples\/Monocular-Inertial\/mono_inertial_euroc .\/Vocabulary\/ORBvoc.txt .\/Examples\/Monocular-Inertial\/EuRoC.yaml ..\/Datasets\/MH01 .\/Examples\/Monocular\/EuRoC_TimeStamps\/MH01.txt dataset-MH01_mono\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\"># \u30c7\u30fc\u30bf\u306eDL<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">wget<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-c<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">http:\/\/robotics.ethz.ch\/~asl-datasets\/ijrr_euroc_mav_dataset\/machine_hall\/MH_01_easy\/MH_01_easy.zip<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># \u30d5\u30a9\u30eb\u30c0\u4f5c\u6210<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">mkdir<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-p<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">Datasets\/MH01<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># \u30c7\u30fc\u30bf\u306e\u89e3\u51cd\u3068\u30b3\u30d4\u30fc\u3002unzip\u304c\u7121\u3044\u5834\u5408\u306fsudo apt install unzip\u5f8c<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">unzip<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">MH_01_easy.zip<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #569CD6\">-d<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">Datasets\/MH01<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># SLAM\u30d5\u30a9\u30eb\u30c0\u3078\u79fb\u52d5<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">cd<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">ORB-SLAM3<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\"># ORB-SLAM3\u5b9f\u884c<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">.\/Examples\/Monocular-Inertial\/mono_inertial_euroc<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">.\/Vocabulary\/ORBvoc.txt<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">.\/Examples\/Monocular-Inertial\/EuRoC.yaml<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">..\/Datasets\/MH01<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">.\/Examples\/Monocular\/EuRoC_TimeStamps\/MH01.txt<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">dataset-MH01_mono<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u4e0a\u8a18\u3067\u3059\u3093\u306a\u308a\u6210\u529f\u3057\u305f\u5834\u5408\u306f\u304a\u3081\u3067\u3068\u3046\u3054\u3056\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u521d\u3081\u3066WSL\u3067Ubuntu\u3092\u5165\u308c\u308b\u3068\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u8868\u793a\u3055\u308c\u306a\u3044\u5834\u5408\u304c\u5927\u534a\u3060\u3068\u601d\u3046\u306e\u3067\u3001\u4e0b\u8a18\u306b\u30a8\u30e9\u30fc\u3068\u305d\u306e\u5bfe\u5fdc\u7b56\u3092\u5217\u6319\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Loading_images_for_sequence_0%E2%80%A6LOADED%E3%81%A7%E6%AD%A2%E3%81%BE%E3%82%8B\"><\/span>Loading images for sequence 0&#8230;LOADED!\u3067\u6b62\u307e\u308b<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u30b5\u30f3\u30d7\u30eb\u30c7\u30fc\u30bf\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u6307\u5b9a\u30df\u30b9\u3060\u3068\u601d\u308f\u308c\u307e\u3059\u3002<br>\u3053\u306e\u30d6\u30ed\u30b0\u306e\u5834\u5408\u306f\u5b9f\u884c\u30b3\u30de\u30f3\u30c9\u306e\uff13\u756a\u76ee\u306e\u5f15\u6570&#8221;..\/Datasets\/MH01&#8243;\u3067\u3059\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"gtk-warning_cannot_open_display\"><\/span>gtk-warning cannot open display<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u30b3\u30de\u30f3\u30c9\u30d7\u30ed\u30f3\u30d7\u30c8\u3067&#8221;wsl &#8211;update&#8221;\u5f8c\u306b~.\/bashrc\u3092\u958b\u304d\u4e0b\u8a18\uff12\u884c\u3092\u8ffd\u52a0\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"export DISPLAY=:0\nexport LIBGL_ALWAYS_INDIRECT=0\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #569CD6\">export<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #9CDCFE\">DISPLAY<\/span><span style=\"color: #D4D4D4\">=<\/span><span style=\"color: #CE9178\">:0<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">export<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #9CDCFE\">LIBGL_ALWAYS_INDIRECT<\/span><span style=\"color: #D4D4D4\">=<\/span><span style=\"color: #B5CEA8\">0<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u8ffd\u52a0\u5f8c\u306b\u518d\u8d77\u52d5<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"source ~\/.bashrc\nsudo reboot\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">source<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">~\/.bashrc<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">reboot<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u9069\u5f53\u306a\u30a2\u30d7\u30ea\u306e\u30a6\u30a3\u30f3\u30c9\u30a6\u304c\u8868\u793a\u3055\u308c\u308b\u304b\u306e\u30c1\u30a7\u30c3\u30af\u3002<br>[\u4e0b\u8a18\u306fgedit\u30a8\u30c7\u30a3\u30bf\u3067\u306e\u30c1\u30a7\u30c3\u30af\u4f8b]<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"sudo apt install gedit\ngedit test.txt\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #DCDCAA\">sudo<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">apt<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">install<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">gedit<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">gedit<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #CE9178\">test.txt<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Pangolin_X11_Failed_to_open_X_display\"><\/span>Pangolin X11: Failed to open X display<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>\u4e3b\u306bwsl2\u3067\u30c7\u30a3\u30b9\u30d7\u30ec\u30a4\u3092\u8868\u793a\u3055\u305b\u308b\u4e8b\u304c\u51fa\u6765\u306a\u3044\u5834\u5408\u306b\u767a\u751f\u3057\u3066\u3044\u308b\u3068\u8003\u3048\u3089\u308c\u307e\u3059\u3002gtk-warning cannot open display\u306e\u5834\u5408\u3068\u540c\u3058\u51e6\u7f6e\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"malloc_unsorted_double_linked_list_corrupted\"><\/span>malloc(): unsorted double linked list corrupted<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>malloc()\u306f\u3042\u3063\u305f\u308a\u306a\u304b\u3063\u305f\u308a\u3057\u307e\u3059\u3002<br>wsl2\u306e\u305b\u3044\u306a\u306e\u304bOpenCV\u306e\u305b\u3044\u306a\u306e\u304b\u5834\u5408\u306b\u3088\u308b\u3068\u601d\u3044\u307e\u3059\u304c\u3001\u79c1\u306fOpenCV\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u30924.4.0-&gt;4.5.5\u306b\u4e0a\u3052\u305f\u3068\u3053\u308d\u89e3\u6c7a\u3057\u307e\u3057\u305f\u3002<\/p>\n\n\n\n<h4 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Fail_to_track_local_map%E3%81%A7%E6%AD%A2%E3%81%BE%E3%82%8B\"><\/span>Fail to track local map!\u3067\u6b62\u307e\u308b<span class=\"ez-toc-section-end\"><\/span><\/h4>\n\n\n\n<p>Examples\/Monocular\/mono_euroc.cc\u5185\u306e83\u884c\u76ee\u306e4\u756a\u76ee\u306e\u5f15\u6570\u3092true\u306b\u4fee\u6b63[<a href=\"https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3\/issues\/464\">git issue<\/a>]<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"\/\/ Search the line `ORB_SLAM3::System # the modify the 4th argument from `false` to `true`.\nSLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);\n\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\">\/\/ Search the line `ORB_SLAM3::System # the modify the 4th argument from `false` to `true`.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">SLAM<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #9CDCFE\">argv<\/span><span style=\"color: #D4D4D4\">[<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">],<\/span><span style=\"color: #9CDCFE\">argv<\/span><span style=\"color: #D4D4D4\">[<\/span><span style=\"color: #B5CEA8\">2<\/span><span style=\"color: #D4D4D4\">],ORB_SLAM3::System::MONOCULAR, <\/span><span style=\"color: #569CD6\">true<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u79c1\u306e\u51fa\u5408\u3063\u305f\u30a8\u30e9\u30fc\u306f\u4ee5\u4e0a\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>ORB-SLAM\u3068\u3044\u3046\u81ea\u5df1\u4f4d\u7f6e\u63a8\u5b9a\u306e\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u30927,8\u5e74\u524d\u306b\u52d5\u304b\u3057\u3066\u904a\u3093\u3060\u8a18\u61b6\u304c\u3042\u308b\u306e\u3067\u3059\u304c\u3001\u73fe\u5728\u3067\u306f\u30d0\u30fc\u30b8\u30e7\u30f3\uff13\u307e\u3067\u51fa\u3066\u3044\u308b\u305d\u3046\u306a\u306e\u3067\u77e5\u8b58\u3092\u30a2\u30c3\u30d7\u30c7\u30fc\u30c8\u3059\u308b\u70ba\u306b\u30d3\u30eb\u30c9\u3057\u3066\u904a\u3093\u3067\u307f\u307e\u3057\u305f\u3002 Windows\u306eWSL2\u3092\u4f7f [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1093,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[39,38,40],"class_list":["post-1077","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tech","tag-orb-slam3","tag-slam","tag-wsl2"],"_links":{"self":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1077","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1077"}],"version-history":[{"count":15,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1077\/revisions"}],"predecessor-version":[{"id":1096,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1077\/revisions\/1096"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/media\/1093"}],"wp:attachment":[{"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1077"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1077"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1077"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}