一文解决ORB_SLAM2的源码编译、测试、调试

ORB_SLAM2源码编译

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")
删除 -march=native 这里设置编译环境的优化选项
  
/ORB_SLAM2/Thirdparty/g2o/CMakeLists.txt  
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native") 
SET(CMAKE_C_FLAGS_RELEASE