VINS安装踩坑

1.版本按照官方的来

ubuntu16.04 ros-kinetic opencv3.3.1  cere-solver  eigen3.3.3

2.ceres一定要装成shared分享库
但是用官方的命令sudo add-apt-repository ppa：bzindovic / suitesparse-bugfix-1319687在sudo apt-get update的时候会报错

Ign:30 http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu xenial/main i386 Packages           
Ign:44 http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu xenial/main all Packages            
Ign:48 http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu xenial/main Translation-en_US       
Ign:57 http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu xenial/main Translation-en          
Ign:60 http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu xenial/main amd64 DEP-11 Metadata   
Ign:61 http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu xenial/main DEP-11 64x64 Icons      
Get:62 http://packages.ros.org/ros/ubuntu xenial/main i386 Packages [588 kB]                                    
Fetched 11.4 MB in 2min 25s (78.4 kB/s)                                                                         
AppStream cache update completed, but some metadata was ignored due to errors.
Reading package lists... Done
W: The repository 'http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu xenial Release' does not have a Release file.
N: Data from such a repository can't be authenticated and is therefore potentially dangerous to use.
N: See apt-secure(8) manpage for repository creation and user configuration details.
E: Failed to fetch http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu/dists/xenial/main/binary-amd64/Packages  404  Not Found [IP: 91.189.95.83 80]
E: Some index files failed to download. They have been ignored, or old ones used instead

解决方法：删除/etc/apt/sources.list.d目录下对应的文件
通过设置里的软件和更新–其他软甲-添加

deb http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu trusty main 
deb-src http://ppa.launchpad.net/bzindovic/suitesparse-bugfix-1319687/ubuntu trusty main 

然后再sudo apt-get update即可解决

装ceres时候执行完make后一定记得sudo make install

当删除或添加文件后,需要更新locate,命令如下:

sudo updatedb

查找文件用：

locate 文件名