build.sh

echo "Configuring and building Thirdparty/DBoW2 ..."

cd Thirdparty/DBoW2
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

cd ../../g2o

echo "Configuring and building Thirdparty/g2o ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

cd ../../../

echo "Uncompress vocabulary ..."

cd Vocabulary
tar -xf ORBvoc.txt.tar.gz
cd ..

echo "Configuring and building ORB_SLAM2 ..."

mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4

cd ..

cd Vocabulary
echo "Converting vocabulary to binary version"
./bin_vocabulary
cd ..

echo "Building ROS nodes"

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:./Examples/ROS
export ROS_DISTRO=kinetic
export CMAKE_PREFIX_PATH=/opt/ros/${ROS_DISTRO}:/opt/ros/${ROS_DISTRO}/share

cd Examples/ROS/ORB_SLAM2
mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make -j4