ubuntu 相关软件，库的安装简单使用

Kdevelop汉化

SLAM十四讲程序

初识KDevelop集成开发环境(Note3.2)

ORB_SLAM系列总结

力扣

14讲笔记

ubuntu fenping

sudo add-apt-repository ppa:graphics-drivers/ppa
sudo apt-get update

Pangolin的安装
//将build文件夹建在Pangolin目录下
添加链接描述

Sophus
源码编译eigen与sophus
源码编译eigen
添加链接描述

git clone http://github.com/strasdat/Sophus.git
cd XXXX                 #进入Sophus库文件目录下
mkdir build             #新建build文件夹
cd build                #进入build文件夹
cmake ..                #build上一层目录下执行CMake命令
make                    #编译

cmakeliststxt

INCLUDE_DIRECTORIES("/usr/local/include/sophus")
include_directories("/usr/local/include/eigen3/")

SMPlayer

输入法切换
1.右上角小家盘
2.命令行输入fcitx-configtool
进行添加,删除.

安装Flash
安装Flash

opencv与pcl安装
opencv地址
pcl安装

将对应版本的opencv-contrib放入opencv中，进行上述步骤

Ceres

Ceres
Ceres解读官方文档

G2o

g2o
g2o学习-《视觉slam十四讲》中的g2o
高翔

从零开始一起学习SLAM | 理解图优化，一步步带你看懂g2o代码
从零开始一起学习SLAM | 掌握g2o顶点编程套路
从零开始一起学习SLAM | 掌握g2o边的代码套路

SLAM

SLAM网站
SLAM相关

Meshlab

meshlab的使用

极智佳
地平线

换源

系统软件安装

ubuntu16.04系统安装
启动优盘制作
SMplayer安装
安装Anaconda
安装谷歌

运行.sh文件
bash Anaconda3-5.2.0-Linux-x86_64.sh

安装微信

# 安装 deepin-wine
git clone [email protected]:hot_heart/deepin-wine.git
cd deepin-wine
sudo sh install.sh
# 安装 Wecaht
wget https://mirrors.aliyun.com/deepin/pool/non-free/d/deepin.com.wechat/deepin.com.wechat_2.6.2.31deepin0_i386.deb
sudo dpkg -i deepin.com.wechat_2.6.2.31deepin0_i386.deb
sudo apt-get install -f

微信

Ubuntu18.04安装搜狗输入法

安装fcitx
1.软件中心
2.sudo apt-get install fcitx-bin
安装搜狗输入法
在安装目录下打开终端
sudo dpkg -i sogoupinyin_2.2.0.0108_amd64.deb
sudo apt install -f # 如果出现依赖错误输入这行处理，执行完后，继续输入上面的命令

选择
https://blog.csdn.net/lupengCSDN/article/details/80279177
、、
https://blog.csdn.net/neuroc/article/details/82992524

# 安装 deepin-wine
git clone [email protected]:hot_heart/deepin-wine.git
cd deepin-wine
sudo sh install.sh
# 安装 QQ
wget http://mirrors.aliyun.com/deepin/pool/non-free/d/deepin.com.qq.im/deepin.com.qq.im_8.9.19983deepin23_i386.deb
sudo dpkg -i deepin.com.qq.im_8.9.19983deepin23_i386.deb
sudo apt-get install -f
\
Ubuntu18.04 完美安装QQ
https://blog.csdn.net/qq_39268193/article/details/87880219

quanbu 
https://github.com/wszqkzqk/deepin-wine-ubuntu

Ubuntu18.04安装百度网盘

1.官网下载百度网盘Linux版（deb格式）
https://pan.baidu.com/download
2.安装
sudo dpkg -i baidunetdisk_linux_2.0.2.deb

##装显卡分屏
sudo add-apt-repository ppa:graphics-drivers/ppa

sudo apt-get update
###查看适合哪个版本驱动
sudo apt-cache search nvidia*
####执行安装
sudo apt install nvidia-410*

SLAM环境配置

安装gflags

eigen

####eigen###############
第一种
sudo apt-get install libeigen3-dev
第二种
若第一种安装不是3.3以上，导致Sophus安装失败

eigen官网

cd eigen-eigen-5a0156e40feb
mkdir build
cd build
cmake ..
sudo make install

sudo cp -r /usr/local/include/eigen3 /usr/include 

pangolin会在/usr/include 目录下进行搜索，导致pangolin安装失败，上面命令可以解决
搜索不到时，CMakeList里面添加：

# 添加头文件
include_directories("/usr/include/eigen3")

若出现无法找到问题

INCLUDE_DIRECTORIES("/usr/local/include/sophus")
include_directories("/usr/local/include/eigen3/")

Sophus

git clone http://github.com/strasdat/Sophus.git
cd XXXX                 #进入Sophus库文件目录下
mkdir build             #新建build文件夹
cd build                #进入build文件夹
cmake ..                #build上一层目录下执行CMake命令
make                    #编译

Pangolin

sudo apt install git 
sudo apt install libglew-dev  
sudo apt install cmake  
sudo apt install libboost-dev libboost-thread-dev libboost-filesystem-dev

git clone --depth=1 https://github.com/stevenlovegrove/Pangolin
mkdir -p build && cd build
cmake ..
make -j4 && sudo make install

G2o

git clone https://github.com/RainerKuemmerle/g2o.git

sudo apt-get install libcholmod3.0.6
sudo apt-get install libsuitesparse-dev
sudo apt-get install freeglut3 freeglut3-dev freeglut3-dbg
sudo apt-get install libqglviewer2 libqglviewer-dev libqglviewer-doc
sudo apt-get install libeigen3-dev libeigen3-doc



mkdir build
cd build/
cmake ..
make
sudo make install

Ceres

ceres

opencv

opencv地址

sudo apt-get install build-essential 
sudo apt-get install libgtk2.0-dev
sudo apt-get install libvtk5-dev
sudo apt-get install libjpeg-dev
sudo apt-get install libtiff4-dev
sudo apt-get install libjasper-dev 
sudo apt-get install libopenexr-dev
sudo apt-get install libtbb-dev

opencv3要下载一个ippicv的第三方包（ippicv_linux_20151201.tgz）ippicv，直接下比较慢，可以自己下后，放到 3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e里即可。
然后对Opencv安装包编译安装，OpenCV库和普通的cmake工程一样。

mkdir build
cd build
cmake ..
make
sudo make install

dbow3

git clone https://github.com/rmsalinas/DBow3.git

mkdir build
cd build
cmake ..
make
sudo make install

octomap

添加链接描述

pcl

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev

sudo apt-get install libqhull* libgtest-dev  
sudo apt-get install freeglut3-dev pkg-config  
sudo apt-get install libxmu-dev libxi-dev   
sudo apt-get install mono-complete   
sudo apt-get install libopenni-dev   
sudo apt-get install libopenni2-dev 

源码编译boost1.68
boost官网

sudo ./bootstrap.sh
sudo ./b2 install

undefined reference to `boost::system::generic_category()’

find_package(Boost 1.55.0 REQUIRED COMPONENTS system filesystem)
include_directories(untitled ${Boost_INCLUDE_DIRS})
link_directories(untitled ${Boost_LIBRARY_DIRS})
target_link_libraries(untitled ${Boost_LIBRARIES})


编译VINS遇到
target_link_libraries(Calibrations -lboost_system -lboost_thread -lpthread)

源码编译vtk6.3

cmake ..
sudo make
sudo make install

源码编译pcl1.9.1

cd pcl 
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None ..
make
sudo make install

pcl测试代码
测试代码pcl_test.cpp如下：

#include 
#include 
#include 
#include 
#include 
#include 
 
 
int main(int argc, char **argv) {
    std::cout << "Test PCL !!!" << std::endl;
    
    pcl::PointCloud::Ptr point_cloud_ptr (new pcl::PointCloud);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
      for (float angle(0.0); angle <= 360.0; angle += 5.0)
      {
	pcl::PointXYZRGB point;
	point.x = 0.5 * cosf (pcl::deg2rad(angle));
	point.y = sinf (pcl::deg2rad(angle));
	point.z = z;
	uint32_t rgb = (static_cast(r) << 16 |
		static_cast(g) << 8 | static_cast(b));
	point.rgb = *reinterpret_cast(&rgb);
	point_cloud_ptr->points.push_back (point);
      }
      if (z < 0.0)
      {
	r -= 12;
	g += 12;
      }
      else
      {
	g -= 12;
	b += 12;
      }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;
    
    pcl::visualization::CloudViewer viewer ("test");
    viewer.showCloud(point_cloud_ptr);
    while (!viewer.wasStopped()){ };
    return 0;
}

CMakeLists.txt文件：（直接输入以下代码）

cmake_minimum_required(VERSION 2.6)
project(pcl_test)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(pcl_test pcl_test.cpp)

target_link_libraries (pcl_test ${PCL_LIBRARIES})

install(TARGETS pcl_test RUNTIME DESTINATION bin)

把pcl_test.cpp和CMakeLists.txt发在同一个文件夹后
执行如下命令：

mkdir build
cd build
cmake ..
make
./pcl_test

ORB_SLAM2

ORB_SLAM2官网
KITII数据集uu20
ROS官网
ROS安装
guawaiwang
anzhuangchucuo
从零跑slam配置ROS Kinetic环境并测试Realsense D435相机（安装ROS可行）

=============================

ORB-SLAM2编译并跑通自己的数据集（未测试）
在ROS中使用usb摄像头跑ORB SLAM2