SLAM十四讲第二版环境配置

SLAM十四讲第二版环境配置

1.源码下载路径

https://githup.com/gaoxiang12/slambook2

2.三方库安装

2.1 Eigen3

sudo apt-get install libeigen3-dev

2.2 Sophus

(1)首先安装fmt
注意：不要用git下载，会报bug

下载链接：https://fmt.dev/8.1.1/index.html

cd fmt
mkdir build
cd build
cmake ..
make
sudo make install

（2）然后安装Sophus

git clone https://github.com/strasdat/Sophus.git
cd Sophus/

mkdir build
cd build
cmake ..
make
sudo make install

（3）相关bug
解决办法：
(1) CMakeLists.txt文件中添加

find_package(OpenCV REQUIRED)
set( CMAKE_CXX_FLAGS "-std=c++14" )
target_link_libraries(trajectoryError ${Sophus_LIBRARIES} fmt)

(2)执行

sudo ldconfig

2.3 Opencv

(1)下载opencv源码

https://github.com/opencv/opencv/archive/3.4.15.zip

# 安装依赖项
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff5.dev libswscale-dev libjasper-dev 
sudo apt install libcanberra-gtk-module libcanberra-gtk3-module 
# 配置并编译
mkdir build && cd build 
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j
sudo make install

2.4 Pangolin

(1)安装依赖

sudo apt-get install libglew-dev
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

(2)

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
make
sudo make install

2.5 Ceres

（1）安装依赖

sudo apt install -y liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev

(2)

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j
sudo make install

2.6 G2o

(1)安装依赖

sudo apt install -y qt5-qmake qt5-default libqglviewer-dev libsuitesparse-dev libcxsparse3.1.4 libcholmod3.0.6

(2)

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make
sudo make install

2.7 PCL

sudo apt-get install libpcl-dev pcl-tools

2.8 DBow3

git clone https://github.com/rmsalinas/DBow3.git
cd DBow3
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j2
sudo make install

注意：十四讲第11章的代码中，使用 DBow3 的方法有错，应将CMakeLists.txt中的：
set( DBoW3_LIBS "/usr/local/lib/libDBoW3.a" )
改成
set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" )