1.安装Pangolin
安装Pangolin 作为可视化和用户界面
a. 安装依赖项

$ sudo apt-get install libglew-dev libpython2.7-dev

$ git clone https://github.com/stevenlovegrove/Pangolin.git

$ cd Pangolin
$ mkdir build
$ cd build
$ cmake ..
$ make 
$ sudo make install

2.安装g2o
首先安装依赖

sudo apt-get install libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make
sudo make install

3.安装DBow3

git clone https://github.com/rmsalinas/DBow3.git
cd DBow3
mkdir build
cd build/
cmake ..
make
sudo make install