参照 ROS官网
PS:需要在/etc/hosts中添加github相关ip (github图片显示问题)
kinetic默认安装pcl1.7,eigen3.3.4
melodic默认安装pcl1.8,eigen3.3.4,opencv3.2.0
cmake --version
gcc -v
qmake -v
sudo chmod a+x qt*.run
./qt*.run # 默认安装在/home
sudo apt install qtchooser
qtchooser -l #查看
qtchooser -install qt5.12 /home/cyz/softwares/qt5.12.8/5.12.8/gcc_64/bin/qmake # 设置路径
export QT_SELECT=qt5.12
# 查看qt版本
qmake -v
# 如果显示 qmake: could not find a Qt installation of ''
which qmake # 查看qmake
sudo rm /usr/bin/qmake # 删除原有链接
sudo ln -s /home/cyz/softwares/qt5.12.8/5.12.8/gcc_64/bin/qmake /usr/bin/qmake # 重新建立连接
关于 libQt5xxx:对‘Qxxxx::xxxx()@Qt5’未定义的引用错误 的解决方法
使用libqt5*报错解决方案-github
sudo snap install cloudcompare
cloudcompare.ccViewer
cloudcompare.CloudCompare
sudo apt install libtbb-dev # TBB
sudo apt install libpdal-dev # PDAL
# opengl
sudo apt-get install freeglut3-dev
sudo apt-get install libgl1-mesa-dev
sudo apt-get install libglu1-mesa-dev
sudo apt-get install libglut-dev
找不到qt请参考CloudCompare: /usr/lib/x86_64-linux-gnu/libQt5Core.so.5: version `Qt_5.12’ not found (required by CloudCompare)
Plugins
NOTE :
LIBRARY_PATH环境变量:指定程序静态链接库文件搜索路径(.a)
LD_LIBRARY_PATH环境变量:指定程序动态链接库文件搜索路径(.so)
GitHub
# 安装glog、gflags等依赖
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev libgoogle-glog-dev libgtest-dev
# 安装
cd ceres*
mkdir build & cd build
cmake ..
make -j8
make DESTDIR=/specific/directory install
参考:
PS* 使用自定义路径的ceres(CMakeLists):
# 定义自己编译的Ceres的库目录
set(Ceres_LIBS_DIR /home/cyz/environments/ceres-solver-1.14.0/makeinstalled/usr/local/lib)
# 定义CeresConfig.cmake所在文件目录
set(Ceres_DIR ${Ceres_LIBS_DIR}/cmake/Ceres)
# 找Ceres库
find_package(Ceres REQUIRED)
message(STATUS "Found Ceres: ${CERES_FOUND}")
message(STATUS " Ceres Include Dirs: ${CERES_INCLUDE_DIRS}")
message(STATUS " Ceres Libs: ${CERES_LIBRARIES}")
GitHub
cd gtsam*
mkdir build & cd build
cmake .. # check installed lib version
make -j8
make DESTDIR=/specific/directory install
# CMakeLists
find_package(GTSAM REQUIRED PATHS "/home/cyz/environments/gtsam-4.0.0-alpha2/makeinstalled/usr/local/lib/cmake/GTSAM" NO_DEFAULT_PATH)
# 未解决:找不到gtsam/gtsam.h等
include_directories("/home/cyz/environments/gtsam-4.0.0-alpha2/makeinstalled/include")
PS* cant find libmetis.so
GitHub
# CMakeList中配置
include_directories( ${PROJECT_SOURCE_DIR}/Thirdparty/g2o)
target_link_libraries(lidarMapping_node ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_csparse_extension.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_stuff.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_core.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_data.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_pcg.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_cholmod.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_solver_csparse.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_slam3d.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o_types_slam3d_addons.so
libcxsparse.so)
Github
# CMakeList中配置
find_package(OpenCV REQUIRED PATHS /home/cyz/environments/opencv-3.4.13/makeinstalled/share/OpenCV)
pkg-config --modversion opencv # 查看默认版本
参考 博客1
知乎:CMakeList.txt在大型文件应用(SLAM常用库添加依赖项)
git status # 查看已改变的状态信息
git add <file> # 添加某个文件到缓冲区
git add . # 添加所有更改到缓冲区
git commit -m "say sth" # 添加文字描述
git reset HEAD <file> # 停止更新(追蹤)
git push # 将更改上传到仓库
git pull origin <远程分支名>:<本地分支名> # 将远程指定分支 拉取到 本地指定分支上, 参考[博客](https://blog.csdn.net/u010059669/article/details/82670484)
#使用token管理仓库
git remote set-url origin https://<your_token>@github.com/<USERNAME>/<REPO>.git
使用代理时会出现unable to access ‘https://XXXXXX.git/’: Could not resolve proxy: http
关闭代理,重新启动终端