一文解決ORB_SLAM2的源碼編譯、測試、調試

ORB_SLAM2源碼編譯

https://github.com/raulmur/ORB_SLAM2

/ORB_SLAM2/CMakeLists.txt    
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")
刪除 -march=native 這裏設置編譯環境的優化選項
  
/ORB_SLAM2/Thirdparty/g2o/CMakeLists.txt  
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native") 
SET(CMAKE_C_FLAGS_RELEASE