Ubuntu 16.04 SLAM基本环境配置

搜狗输入法安装

1. 下载搜狗输入法的安装包, 下载地址: 搜狗输入法linux-首页 

2. 安装搜狗输入法: sudo dpkg -i sogoupinyin_*

3. 从系统设置里面点击“语言支持”, 一开始的系统里面是没有小企鹅输入法的, 搜狗输入法就是在小企鹅输入法基础上安装的, 从语言支持里面选择小企鹅输入法(fcitx), 默认为ibus

4. 若弹出窗口显示"Software database is broken", 则使用命令进行修复: sudo apt-get install -f 

5.重新打开“语言支持”, 弹出窗口显示"The language support is not installed completely", 选择“安装”按钮.  当安装结束以后, 把系统键盘输入方式从ibus切换为fcitx. 如果没有小企鹅出现需执行下面的命令:

sudo apt-get update

sudo apt-get upgrade

6. 重启电脑: sudo reboot 

7. 终端输入: configureFcitx; 在"Input Method Configuration"窗口中点击"+", 在弹出窗口中去掉“Only Show Currnet Language”的选项, 然后搜索框输入sogou, 选中输入法即可.

8. 若输入法出现乱码, 重启即可.

Eigen3安装

1. 下载安装包并解压: Eigen

tar -xvjf eigen-eigen-*tar.bz2

cd eigen-*

mkdir build & cd build

cmke ..

sudo make install

若编译其他程序呢运行过程中查找不到eigen, 则可进行软连接 ln -s source_file target_file

ceres-solver安装:

1. 下载安装文件:

git clone GitHub - ceres-solver/ceres-solver: A large scale non-linear optimization library

2. 安装依赖项:

sudo apt-get install -y google-mock libboost-all-dev  libeigen3-dev libgflags-dev libgoogle-glog-dev liblua5.2-dev libprotobuf-dev  libsuitesparse-dev libwebp-dev ninja-build protobuf-compiler python-sphinx  ros-indigo-tf2-eigen libatlas-base-dev libsuitesparse-dev liblapack-dev 

3. 编译及安装:

cd ceres-solver-*

mkdir build & cd build

cmake ..

make

sudo make install

Pangolin安装:

1. 下载安装项:

git clone GitHub - stevenlovegrove/Pangolin: Pangolin is a lightweight portable rapid development library for managing OpenGL display / interaction and abstracting video input.

2. 安装依赖项:

安装Glew:  sudo apt-get install libglew-dev

安装cmake: sudo apt-get install cmake

建议安装依赖: sudo apt-get install libpython2.7-dev

sudo apt install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev

3. 编译及安装:

cd Panglin

mkdir build & cd build

cmake ..

make -j

sudo make install

OpenCV安装:

1. 安装依赖项:

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

2. 编译及安装

如果要同时安装opencv_contrib的话，你需要将opencv_contrib提取到opencv目录下

cd opencv-*

mkdir build & cd build

若需要安装opencv_contrib_*, 运行如下命令:

cmake -D CMAKE_BUILD_TYPE=Release  -D OPENCV_GENERATE_PKGCONFIG=YES -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=/home/opencv_*/opencv_contrib_*/modules/ ..

若无需安装opencv_contrib_*, 运行如下命令:

cmake -D CMAKE_BUILD_TYPE=Release  -D OPENCV_GENERATE_PKGCONFIG=YES -D CMAKE_INSTALL_PREFIX=/usr/local ..

若安装多版本opencv, 修改CMAKE_INSTALL_PREFIX=/usr/local/OpenCV_*, 默认安装路径为/usr/local/share/

4. 多版本opencv共存时, 切换默认版本:

gedit .bashrc

export PKG_CONFIG_PATH=/usr/local/OpenCV_3.4.2/lib/pkgconfig
export LD_LIBRARY_PATH=/usr/local/OpenCV_3.4.2/lib

glog&gflags安装:

下载glog: git clone GitHub - google/glog: C++ implementation of the Google logging module

配置: sudo apt-get install autoconf automake libtool

编译及安装:

cd glog

./autogen.sh

./configure

make -j

sudo make install

下载gflags: git clone GitHub - gflags/gflags: The gflags package contains a C++ library that implements commandline flags processing. It includes built-in support for standard types such as string and the ability to define flags in the source file in which they are used. Online documentation available at:

编译及安装:

cmake ..

make -j

sudo make install

vscode安装:

官网下载deb文件: Visual Studio Code - Code Editing. Redefined

sudo dpkg -i code_*

Java安装

1. 下载java sdk: Java Downloads | Oracle

2. 配置环境变量:

sudo gedit /etc/profile

在最后添加如下内容：

# set jdk environment    

export JAVA_HOME=/opt/jdk1.7.0_21

export JRE_HOME=/opt/jdk1.7.0_21/jre

export CLASSPATH=.:$CLASSPATH:$JAVA_HOME/lib:$JRE_HOME/lib

export PATH=$PATH:$JAVA_HOME/bin:$JRE_HOME/bin

3. 在终端中执行更新配置操作并检查是否安装成功：

sudo -s

source /etc/profile

java -version

sudo reboot

Eclipse安装

1. 下载SDK: Eclipse Downloads | The Eclipse Foundation

2. 添加桌面启动项

sudo gedit /usr/share/applications/eclipse.desktop

添加如下内容:

[Desktop Entry]

Name=Eclipse

Type=Application

Exec=/opt/eclipse/eclipse

Terminal=false

Icon=/opt/eclipse/icon.xpm

Comment=Integrated Development Environment

NoDisplay=false

Categories=Development;IDE;

Name[en]=Eclipse

libuvc安装

1. 下载安装项:

sudo git clone https://github.com/ktossell/libuvc

2. 编译及安装

cd libuvc

mkdir build & cd build

cmake ..

make -j

sudo make install