Ubutu16.04编译Kintinuous

下载Kintinuous: git clone https://github.com/mp3guy/Kintinuous，严格按照里面的build.sh安装
1.安装依赖项

  sudo apt-get install -y cmake-qt-gui git build-essential libusb-1.0-0-dev libudev-dev openjdk-7-jdk freeglut3-dev python-vtk libvtk-java libglew-dev cuda-7-5 libsuitesparse-dev

2.安装 Pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ../ -DAVFORMAT_INCLUDE_DIR=""
make -j8
cd ../..

3.安装ffmpeg

git clone git://source.ffmpeg.org/ffmpeg.git
cd ffmpeg/
git reset --hard cee7acfcfc1bc806044ff35ff7ec7b64528f99b1
./configure --enable-shared
make -j8
sudo make install
sudo ldconfig
cd ..
rm -rf ffmpeg

4.安装OpenCV

wget http://sourceforge.net/projects/opencvlibrary/files/opencv-unix/2.4.9/opencv-2.4.9.zip
unzip opencv-2.4.9.zip
rm opencv-2.4.9.zip
cd opencv-2.4.9
mkdir build
cd build
cmake -D BUILD_NEW_PYTHON_SUPPORT=OFF -D WITH_OPENCL=OFF -D WITH_OPENMP=ON -D INSTALL_C_EXAMPLES=OFF -D BUILD_DOCS=OFF -D BUILD_EXAMPLES=OFF -D WITH_QT=OFF -D WITH_OPENGL=OFF -D WITH_VTK=OFF -D BUILD_PERF_TESTS=OFF -D BUILD_TESTS=OFF -D WITH_CUDA=OFF -D BUILD_opencv_gpu=OFF ..
make -j8
sudo make install
echo "/usr/local/lib" | sudo tee -a /etc/ld.so.conf.d/opencv.conf
sudo ldconfig
echo "PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig" | sudo tee -a /etc/bash.bashrc
echo "export PKG_CONFIG_PATH" | sudo tee -a /etc/bash.bashrc
source /etc/bash.bashrc
cd ../..
rm -rf opencv-2.4.9

5.安装DLib

git clone https://github.com/dorian3d/DLib.git
cd DLib
git reset --hard 330bdc10576f6bcb55e0bd85cd5296f39ba8811a
mkdir build
cd build
cmake ../
make -j8
sudo make install
cd ../..
rm -rf DLib

6.安装DBoW2

#DBoW2 for place recognition
git clone https://github.com/dorian3d/DBoW2.git
cd DBoW2
git reset --hard 4a6eed2b3ae35ed6837c8ba226b55b30faaf419d
mkdir build
cd build
cmake ../
make -j8
sudo make install
cd ../..
rm -rf DBoW2

7.安装DLoopDetector

#DLoopDetector for place recognition
git clone https://github.com/dorian3d/DLoopDetector.git
cd DLoopDetector
git reset --hard 84bfc56320371bed97cab8aad3aa9561ca931d3f
mkdir build
cd build
cmake ../
make -j8
sudo make install
cd ../..
rm -rf DLoopDetector

8.安装iSAM

#iSAM for pose graph optimisation
wget http://people.csail.mit.edu/kaess/isam/isam_v1_7.tgz
tar -xvf isam_v1_7.tgz
rm isam_v1_7.tgz
cd isam_v1_7
mkdir build
cd build
cmake ..
make -j8
sudo make install
cd ../..
rm -rf isam_v1_7

9.编译Kintinuous

#Actually build Kintinuous
cd ..
mkdir build
cd build
cmake ../src
make -j8

10.效果图