适配的相机硬件有：
is a , , and RGBDSLAM .
该算法支持单目、双目还有RGBD的视觉SLAM系统
的一个显着特点是系统可以处理各种类型的相机模型，例如透视、鱼眼和等距柱状 。如果需要，用户可以轻松实现额外的相机模型（例如双鱼眼、折反射） 。例如，使用等距柱状相机模型（如RICOH THETA系列、系列等）的视觉SLAM算法如上所示 。
官网指导的安装方法：
—
一、环境搭建 1.1 基础环境的依赖包的安装
sudo apt update -ysudo apt upgrade -y --no-install-recommends# basic dependenciessudo apt install -y build-essential pkg-config cmake git wget curl unzip# g2o dependenciessudo apt install -y libatlas-base-dev libsuitesparse-dev# OpenCV dependenciessudo apt install -y libgtk-3-dev ffmpeg libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev libtbb-dev# eigen dependenciessudo apt install -y gfortran# backward-cpp dependencies (optional)sudo apt install -y binutils-dev# other dependenciessudo apt install -y libyaml-cpp-dev libgflags-dev sqlite3 libsqlite3-dev# (if you plan on using PangolinViewer)# Pangolin dependenciessudo apt install -y libglew-dev# (if you plan on using SocketViewer)# Protobuf dependenciessudo apt install -y autogen autoconf libtool# Node.jscurl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -sudo apt install -y nodejs
1.2 下载源码
git clone --recursive https://github.com/stella-cv/stella_vslam.git
下载过程中遇到错误：
首先使用国内的gitee将要下拉的仓库下拉到自己的仓库中
然后执行：
git clone -- 此处换成码云的地址 这样就可以完成下拉代码了 。
也可以直接使用下面的链接下载：
1.3 依赖包的编译和安装
1）build andg2o
cd /tmpgit clone https://github.com/RainerKuemmerle/g2o.gitcd g2ogit checkout ed40a5bb028566fd56a78fd7b04921b613492d6fmkdir build && cd buildcmake \-DCMAKE_BUILD_TYPE=Release \-DCMAKE_INSTALL_PREFIX=/usr/local \-DBUILD_SHARED_LIBS=ON \-DBUILD_UNITTESTS=OFF \-DG2O_USE_CHOLMOD=OFF \-DG2O_USE_CSPARSE=ON \-DG2O_USE_OPENGL=OFF \-DG2O_USE_OPENMP=OFF \-DG2O_BUILD_APPS=OFF \-DG2O_BUILD_EXAMPLES=OFF \-DG2O_BUILD_LINKED_APPS=OFF \..make -j4 && sudo make install
2）build and-cpp
cd /tmpgit clone https://github.com/bombela/backward-cpp.gitcd backward-cppgit checkout 5ffb2c879ebdbea3bdb8477c671e32b1c984beaamkdir build && cd buildcmake \-DCMAKE_BUILD_TYPE=Release \-DCMAKE_INSTALL_PREFIX=/usr/local \..make -j4 && sudo make install
3）build andfrom
cd /tmpgit clone https://github.com/stevenlovegrove/Pangolin.gitcd Pangolingit checkout eab3d3449a33a042b1ee7225e1b8b593b1b21e3emkdir build && cd buildcmake \-DCMAKE_BUILD_TYPE=Release \-DCMAKE_INSTALL_PREFIX=/usr/local \-DBUILD_EXAMPLES=OFF \-DBUILD_PANGOLIN_DEPTHSENSE=OFF \-DBUILD_PANGOLIN_FFMPEG=OFF \-DBUILD_PANGOLIN_LIBDC1394=OFF \-DBUILD_PANGOLIN_LIBJPEG=OFF \-DBUILD_PANGOLIN_LIBOPENEXR=OFF \-DBUILD_PANGOLIN_LIBPNG=OFF \-DBUILD_PANGOLIN_LIBTIFF=OFF \-DBUILD_PANGOLIN_LIBUVC=OFF \-DBUILD_PANGOLIN_LZ4=OFF \-DBUILD_PANGOLIN_OPENNI=OFF \-DBUILD_PANGOLIN_OPENNI2=OFF \-DBUILD_PANGOLIN_PLEORA=OFF \-DBUILD_PANGOLIN_PYTHON=OFF \-DBUILD_PANGOLIN_TELICAM=OFF \-DBUILD_PANGOLIN_UVC_MEDIAFOUNDATION=OFF \-DBUILD_PANGOLIN_V4L=OFF \-DBUILD_PANGOLIN_ZSTD=OFF \..make -j4 && sudo make install
4）
apt install -y libprotobuf-dev protobuf-compiler
1.4 源码编译
在支持 PangolinViewer 的情况下构建时，请指定以下 cmake 选项：-DUSE_PANGOLIN_VIEWER=ON和-DUSE_SOCKET_PUBLISHER=OFF.cd /path/to/stella_vslammkdir build && cd buildcmake \-DUSE_STACK_TRACE_LOGGER=ON \-DCMAKE_BUILD_TYPE=RelWithDebInfo \-DUSE_PANGOLIN_VIEWER=ON \-DINSTALL_PANGOLIN_VIEWER=ON \-DUSE_SOCKET_PUBLISHER=OFF \-DBUILD_TESTS=OFF \-DBUILD_EXAMPLES=ON \..make -j4 && sudo make install