slam 十四讲 环境配置

新系统装很顺畅，没遇到什么问题

Kdevelop安装

sudo apt-get install kdevelop

#安装相应的cmake编译器
sudo apt-get install automake autoconf g++ libtool cmake

eigen安装

sudo apt-get install libeigen3-dev
sudo updatedb
locate eigen3

Sophus安装

git clone http://github.com/strasdat/Sophus.git
git checkout a621ff
mkdir build
cd build
cmake ..
make

Pangolin安装

用于可视化和用户接口

#安装依赖库
sudo apt-get install libglew-dev libpython2.7-dev libboost-dev libboost-thread-dev libboost-filesystem-dev -y
#下载Pangolin、编译并安装
git clone https://github.com/stevenlovegrove/Pangolin 
cd Pangolin
mkdir build 
cd build
cmake ..
make -j4
sudo make install

opencv安装

参考：https://www.jianshu.com/p/f646448da265
官网下载opencv,我选用opencv3.4.６，下载链接 http://opencv.org/releases.html，选择sources版本。

＃解压zip包
unzip opencv-3.4.６.zip
cd opencv-3.4.６

＃安装依赖库和cmake
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff4.dev libswscale-dev libjasper-dev  

＃执行cmake和make
mkdir build
cd build
cmake ..
sudo make
sudo make install

#将OpenCV的库添加到路径
sudo gedit /etc/ld.so.conf.d/opencv.conf
#执行此命令后打开的可能是一个空白的文件，不用管，只需要在文件末尾添加
/usr/local/lib

#生效配置文件
sudo ldconfig 

#配置bash
sudo gedit /etc/bash.bashrc
在末尾追加：
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH

#使得配置生效
source /etc/bash.bashrc
#更新
sudo updatedb

依赖包安装：https://www.jianshu.com/p/259a6140da9d

pcl安装

参考：https://blog.csdn.net/lilywri823/article/details/86583269
安装各种依赖

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 

下载vtk源码
在VTK官网下载，https://www.vtk.org/download/ ，我下载的版本7.1.1,下载完成后，提取到Home目录下。
（1）在vtk-7.1.1目录下，打开终端，输入cmake-gui打开cmake图形界面
（2）配置“where is the source code”的路径为vtk-7.1.1所在的目录
（3）在vtk-7.1.1目录新建build文件夹，配置“where to build the binaries”为build文件夹
（4）点击Configure，配置完成后提示configure done
（5）选择“VTK_GROUP_QT”再次点击configure
（6）配置完成后点击generate按钮，会在build文件夹下生成工程文件
（7）切换文件目录到vtk-7.1.1文件夹下的build文件夹，然后打开终端，输入：

make
sudo make install

下载PCL源码
在官网下载，https://github.com/PointCloudLibrary/pcl/releases
我下载的是最新的版本1.8.0,下载完成后，提取到Home目录下。

cd pcl-pcl-1.8.0
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None ..
make
sudo make install

ceres安装

#安装所需要依赖
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev
#编译安装
cd ceres
mkdir build
cd build
cmake ..
make -j4
sudo make install

g2o安装

#安装所需要依赖
sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.4 libcholmod3.0.6
#编译安装
cd g2o
mkdir build
cd build
cmake ..
make -j4
sudo make install

Meshlab安装

sudo add-apt-repository ppa:zarquon42/meshlab
sudo apt-get update
sudo apt-get install meshlab

gtsam-3.2.1安装

1、下载gtsam-3.2.1.gz文件并解压http://borg.cc.gatech.edu/download.html

2、在gtsam-3.2.1文件路径下打开终端：

sudo mkdir build
cd build
sudo cmake ..
make -j8
sudo make install

报错：

解决：
在gtsam/inference/Ordering.cpp和usr/include/boost/serialization/detail/stack_constructor.hpp文件中，添加

#include 

octomap 安装

sudo apt-get install build-essential cmake doxygen libqt4-dev libqt4-opengl-dev qt4-qmake libqglviewer-dev-qt4
git clone https://github.com/OctoMap/octomap
cd octomap
mkdir build
cd build
cmake ..
make