Ubuntu20.04配置SLAM环境

1. 安装ROS

官网
http://wiki.ros.org/cn/noetic/Installation/Ubuntu

2. 安装OpenCV

https://blog.csdn.net/weixin_41954990/article/details/127854216

3. Eigen

git clone https://gitlab.com/libeigen/eigen.git
cd eigen && git checkout tags/3.3.9

参考：https://blog.csdn.net/weixin_46596757/article/details/127648723

4. fmt sophus 需要依赖fmt库

cd ..
git clone  https://github.com/fmtlib/fmt.git
cd fmt && git checkout tags/8.1.1
mkdir build
cmake .. && make -j10
sudo make install

5. sophus

slambook2里的
带模板的Sophus

mkdir build
cmake .. && make -j10
sudo make install

6. ceres

依赖库：

sudo apt install libgoogle-glog-dev 

wget ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar xvf ceres-solver-1.14.0.tar.gz
mkdir build && cd build
cmake ..
make
sudo make install

7. pangolin

slambook书里面的

cd Pangolin
mkdir build
cd build
cmake ..
make -j10
sudo make install

问题：

Pangolin在cmake时报“Could NOT find GLEW”错误

sudo apt install libglew-dev