《视觉SLAM十四讲》用到的第三方依赖库——配置与安装
以下所有的操作指令依赖的操作系统是Ubuntu 16.04LTS。
Eigen
Eigen is a C++ template library for linear algebra.
1. 安装方法
sudo apt install libeigen3-dev
2. 安装位置
Eigen是一个纯用头文件搭建起来的库（没有库文件），其头文件的默认位置在/usr/include/eigen3。
Pangolin
Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.
1. 安装方法
git clone https://github.com/stevenlovegrove/Pangolin.git
cd [path-to-Pangolin]
# required dependencies
sudo apt install libgl1-mesa-dev libglew-dev cmake
# recommneded dependencies
sudo apt install libpython2.7-dev python-pip
git submodule init && git submodule update # for pybind11
sudo python -mpip install numpy pyopengl Pillow pybind11 # useful modules
sudo apt install pkg-config # pkg-config
sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols # Wayland and EGL
# very optional dependencies: Eigen, CUDA Toolkit, Doxygen
# building and installing
mkdir build
cd build
cmake ..
cmake --build .
cmake --build . --target doc # build the documentation and you have Doxygen installed
sudo make install
2. 安装位置
头文件的默认位置在/usr/local/include/pango，库文件的默认位置在/usr/lib/x86_64-linux-gnu下。
Sophus
Sophus is a C++ implementation of Lie groups commonly used for 2d or 3d geometric problems.
1. 安装方法
git clone https://github.com/strasdat/Sophus.git
cd [path-to-Sophus]
git checkout a621ff # 将Sophus库切换到非模板类/双精度版本
mkdir build
cd build
cmake ..
make # Sophus库只需编译无需安装（编译的build文件夹不可删除）
# 可能遇见的错误解决方案参考：https://github.com/uzh-rpg/rpg_svo/issues/237
2. 安装位置
头文件的默认位置在[path-to-Sophus]/sophus，库文件的默认位置在[path-to-Sophus]/build下，我们可找到名为libSophus.so的库文件。
OpenCV
OpenCV is a library of programming functions mainly aimed at computer vision.
1. 安装方法
git clone https://github.com/opencv/opencv.git
cd [path-to-OpenCV]
git checkout 3.4.3 # 将openCV退回到你想要的版本，此处退回到 openCV 3.4.3
# required packages
sudo apt install build-essential # compiler
sudo apt install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev # required
sudo apt install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev # optional
# building and installing
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j12 # 取决于你CPU的线程数
sudo make install
2. 安装位置
头文件的默认位置在/usr/local/include，我们我可以看到opencv和opencv2两个文件夹里存放着头文件，库文件的默认位置在/usr/local/lib下。
PCL
The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.
1. 安装方法
sudo apt install libpcl-dev
sudo apt install pcl-tools # 安装用来打开pcd文件的可视化工具：pcl_viewer xxx.pcd
2. 安装位置
头文件的默认位置在/usr/include/pcl-1.7，库文件的默认位置在/usr/lib/x86_64-linux-gnu下。
Ceres Solver
Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. Ceres Solver can solve two kinds of problems: Non-linear Least Squares problems with bounds constraints; General unconstrained optimization problems.
1. 安装方法
git clone https://github.com/ceres-solver/ceres-solver.git
cd [path-to-ceres-solver]
# dependencies
sudo apt install cmake libeigen3-dev
sudo apt install libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
# building and installing
mkdir build
cd build
cmake ..
make -j12
sudo make install
2. 安装位置
头文件的默认位置在/usr/local/include/ceres，库文件的默认位置在/usr/local/lib下，我们可找到名为libceres.a的库文件。
g2o
g2o(general graph optimization) is an open-source C++ framework for optimizing graph-based nonlinear error functions. The current implementation provides solutions to several variants of SLAM and BA.
1. 安装方法
git clone https://github.com/RainerKuemmerle/g2o.git
cd [path-to-g2o]
# dependencies
sudo apt install cmake libeigen3-dev
sudo apt install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev
# building and installing
mkdir build
cd build
cmake ..
make -j12
sudo make install
2. 安装位置
头文件的默认位置在/usr/local/include/g2o，库文件的默认位置在/usr/local/lib。
参考
[1] Installing Dependencies on Ubuntu 16.04 LTS towards SLAM Projects (Updating)
[2] GitHub: Connecting to GitHub with SSH
[3] 廖雪峰的Git教程：添加远程库
[4] 廖雪峰的Git教程：从远程库克隆
[5] Eigen: Getting started
[6] Pangolin Official Website
[7] Sophus Official Website
[8] OpenCV: Installation in Linux
[9] PCL Official Website
[10] Ceres-Solver Official Website
[11] g2o Official Website