SLAM常见库的源码安装及卸载

SLAM中常见库(持续更新)

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eigen

eigen的安装分为源码安装和命令行安装

• 命令行安装

sudo apt-get install libeigen3-dev

安装成功之后,在**/usr/include/eigen3/Eigen/src/Core/util/Macros.h** 文件里面可以看到安装的版本,

#define EIGEN WORLD VERSION 3
#define EIGEN MAJOR _VERSION 2
#define EIGEN MINOR _VERSION 92

• 源码安装
  eigen官网不能下载需要去eigen项目的gitlab网站去下载
  链接: https://gitlab.com/libeigen/eigen/-/releases
  解压到ubuntu之后按照Cmake工程进行编译安装

mkdir bulid
cd build
cmake ..
make -j5
sudo make install

将会出现在**/usr/local/include/eigen3/**
eigen安装默认的地址是：/usr/local/include里 ，我们在安装pangolin时，会在/usr/include 目录下进行搜索eigen，导致pangolin安装失败，通常我们复制一份在、usr/include上面命令可以解决:

sudo cp -r /usr/local/include/eigen3 /usr/include 

搜索不到时，CMakeList里面添加：

include_directories("/usr/include/eigen3")

• 卸载eigen

sudo updatedb  
locate eigen3  #查看eigen3的位置

依次删除eigen3的安装文件:

sudo rm -rf /usr/include/eigen3
sudo rm -rf /usr/lib/cmake/eigen3
sudo rm -rf /usr/local/include/eigen3
sudo rm -rf /usr/share/doc/libeigen3-dev 
sudo rm -rf /usr/local/share/eigen3
sudo rm -rf /usr/local/share/pkgconfig/eigen3.pc 
sudo rm -rf /usr/share/pkgconfig/eigen3.pc 
sudo rm -rf /var/lib/dpkg/info/libeigen3-dev.list 
sudo rm -rf /var/lib/dpkg/info/libeigen3-dev.md5sums

Pangolin

下载网址:https://github.com/stevenlovegrove/Pangolin
https://github.com/gaoxiang12/slambook2

//准备依赖环境
sudo apt-get update && sudo apt-get install python3-pip
mkdir build
cd build
cmake ..
make -j5
sudo make install

Sophus

ceres

https://www.cnblogs.com/qilai/p/13654810.html
https://blog.csdn.net/weixin_56024057/article/details/128344034?spm=1001.2101.3001.6661.1&utm_medium=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-128344034-blog-117406071.pc_relevant_3mothn_strategy_recovery&depth_1-utm_source=distribute.pc_relevant_t0.none-task-blog-2%7Edefault%7ECTRLIST%7ERate-1-128344034-blog-117406071.pc_relevant_3mothn_strategy_recovery&utm_relevant_index=1

g2o

opencv

链接: https://blog.csdn.net/gyqJulius_Caesar/article/details/104574127

DBoW2

//准备依赖环境
mkdir build
cd build
cmake ..
make -j4
sudo make install

参考链接

https://blog.csdn.net/liudahanghang/article/details/81414091