《视觉SLAM十四讲：从理论到实践》书中软件的安装

OS：ubuntu 16.04

1、eigen3

      a、从网址http://eigen.tuxfamily.org/index.php?title=Main_Page上下载最新eigen版本

      b、cd eigen目录

      c、mkdir build && cd build

      d、sudo make install

2、安装Sophus

      a、git clone https://github.com/strasdat/Sophus

      b、cd Sophus

      c、 mkdir build && cd build

      d、cmake ..

      e、make -j2

      f、sudo make install

2、安装PCL

      sudo apt-get install libpcl-dev

3、安装Ceres

      a、git clone https://github.com/ceres-solver/ceres-solver

      b、sudo apt-get install libgoogle-glog-dev

      c、sudo apt-get install libatlas-base-dev

      d、sudo apt-get install libsuitesparse-dev

      e、sudo apt-get install libmetis-dev

       f、sudo apt-get install libeigen3-dev

       g、mkdir build && cd build

       h、cmake ..

       i、make -j2

       j、sudo make install

4、安装g2o

       a、sudo apt-get install libsuitesparse-dev

       b、sudo apt-get install qtdeclarative5-dev

       c、sudo apt-get install qt5-qmake

       d、sudo apt-get install libqglviewer-dev

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

       f、cd g2o

       g、mkdir build && cd build

       h、cmake ..

       i、make -j2

       j、sudo make install

5、安装OpenCV

       a、sudo apt-get install build-essential

       b、sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev

       c、sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

       d、git clone https://github.com/opencv/opencv.git

       e、cd OpenCV目录

       f、mkdir build && cd build

       g、cmake ..

       h、make -j2

       i、sudo make install