Slam学习--Ubuntu 20.04 gtsam编译与安装
目录
What is GTSAM?
快速开始
MKL安装
下载gtsam源码并编译
What is GTSAM?
GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
On top of the C++ library, GTSAM includes a MATLAB interface (enable GTSAM_INSTALL_MATLAB_TOOLBOX in CMake to build it). A Python interface is under development.
快速开始
Prerequisites:
- Boost >= 1.43 (Ubuntu:
sudo apt-get install libboost-all-dev) - CMake >= 3.0 (Ubuntu:
sudo apt-get install cmake) - A modern compiler, i.e., at least gcc 4.7.3 on Linux.
- Intel Threaded Building Blocks (TBB) 安装
-
sudo apt-get install libtbb-dev) - Intel Math Kernel Library (MKL)
- See INSTALL.md for more installation information
- Note that MKL may not provide a speedup in all cases. Make sure to benchmark your problem with and without MKL.
MKL安装
安装特定版本 模板：
sudo apt-get install -.- <>中对应的参数在指导网页中寻找对应版本
安装指导网页：
https://software.intel.com/content/www/us/en/develop/articles/installing-intel-free-libs-and-python-apt-repo.html一键安装指令 示例：
sudo apt-get install intel-mkl-2018.2-046下载gtsam源码并编译
git clone https://bitbucket.org/gtborg/gtsam.git编译
In the root library folder execute:
#!bash
$ mkdir build
$ cd build
$ cmake ..
$ make check (optional, runs unit tests)
$ sudo make install (增加sudo 避免安装过程中出现权限不足问题)
编译中出现的错误
CMake Error at wrap/CMakeLists.txt:29 (target_link_libraries):
The "debug" argument must be followed by a library.
在相应的cmakelist文件中将
set(WRAP_BOOST_LIBRARIES
optimized
${Boost_FILESYSTEM_LIBRARY_RELEASE}
${Boost_SYSTEM_LIBRARY_RELEASE}
${Boost_THREAD_LIBRARY_RELEASE}
debug
${Boost_FILESYSTEM_LIBRARY_DEBUG}
${Boost_SYSTEM_LIBRARY_DEBUG}
${Boost_THREAD_LIBRARY_DEBUG}
)中的
debug
${Boost_FILESYSTEM_LIBRARY_DEBUG}
${Boost_SYSTEM_LIBRARY_DEBUG}
${Boost_THREAD_LIBRARY_DEBUG}
删除或者注释即可
再次编译其他CMakeList文件仍然出现同样的错误
CMake Error at gtsam/CMakeLists.txt:105 (target_link_libraries):
The "debug" argument must be followed by a library.
注释或删掉CMakeList文件中的174-180行代码 ：
debug
${Boost_SERIALIZATION_LIBRARY_DEBUG}
${Boost_SYSTEM_LIBRARY_DEBUG}
${Boost_FILESYSTEM_LIBRARY_DEBUG}
${Boost_THREAD_LIBRARY_DEBUG}
${Boost_DATE_TIME_LIBRARY_DEBUG}
${Boost_REGEX_LIBRARY_DEBUG}
以及186-188行
debug
${Boost_TIMER_LIBRARY_DEBUG}
${Boost_CHRONO_LIBRARY_DEBUG}
修改以上两个文件后，编译即可通过
编译完后
用make install安装可能出现权限问题：
Install the project...
-- Install configuration: ""
CMake Error at cmake_install.cmake:41 (file):
file cannot create directory: /usr/local/doc/cmake-3.14. Maybe need administrative privileges.
将make install 改为 sudo make install 即可
参考博客
gtsam安装：https://www.cnblogs.com/long5683/p/13930079.html
编译错误解决：https://blog.csdn.net/weixin_47451478/article/details/116780428