SLAM中第三方库的相关安装问题

ch5

装PCL

sudo apt-get install libpcl-dev pcl-tools 

使用ubuntu16.04运行joinMap时，有一个错误的引用，需要在cmakelist.txt的find_package(PCL REQUIRED COMPONENTS common io)后面加上一句

list(REMOVE_ITEM  PCL_LIBRARIES "vtkproj4")

可能会发生opencv的路径问题

Error:Found package configuration file:
/home/opencv-3.1.0/cmake/OpenCVConfig.cmake
but it set OpenCV_FOUND to FALSE so package “OpenCV” is considered to be NOT FOUND.

在cmakelist.txt中的
find_package( OpenCV REQUIRED )
之前加上下面两句

set(OpenCV_DIR     /home/opencv-3.1.0/build)
set( OpenCV_FOUND 1 )

ch6

安装ceres
会发现有CXsparse egien3等未安装

sudo apt-get install libcxsparse3.1.4 libsuitesparse-dev libeigen3-dev libgoogle-glog-dev  libgtest-dev
cmake ..
make -j8
sudo make install

安装g2o
Could NOT find QT4
Could NOT find QGLVIEWER

sudo apt-get install libqt4-dev libqglviewer-dev libcholmod3.0.6
sudo apt-get install libqt4-dev qt4-qmake

然后再重新cmake,安装g2o

cmake ..
make -j8
sudo make install

然后使用g2o时可能会出现
error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory
解决办法：在g2o的build文件夹下输入

sudo ldconfig

ch7

运行feature2d时，图片可能显示不出，名字全为？？？，内容黑屏。
修改程序中的文件名重新编译即可，文件名改为全英文，或者在前面加上u，即

imshow(u"匹配点图"，image);

ch8

LKFlow
创建build，将data放到同级目录
在build下

./useLK  ../data