ch2
1、eigen3
eigen3 is a lib comes with the Ubuntu system,so no configuration is required.
view command:
$ sudo updatedb
$ locate eigen3
2、pangolin
install dependency for pangolin
$ sudo apt-get install libglew-dev
compile and install pangolin
$ cd [path of pangoliin]
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
ch3
an error occurred when running visualizeGeometry
Pangolin X11: Unable to retrieve framebuffer options
solve method :
comment pangilin`s source code l123-l124 in src/display/device/display_x11.cpp
static int visual_attribs[] =
{
GLX_X_RENDERABLE , True,
GLX_DRAWABLE_TYPE , GLX_WINDOW_BIT,
GLX_RENDER_TYPE , GLX_RGBA_BIT,
GLX_X_VISUAL_TYPE , GLX_TRUE_COLOR,
GLX_RED_SIZE , 8,
GLX_GREEN_SIZE , 8,
GLX_BLUE_SIZE , 8,
GLX_ALPHA_SIZE , 8,
GLX_DEPTH_SIZE , 24,
GLX_STENCIL_SIZE , 8,
GLX_DOUBLEBUFFER , glx_doublebuffer ? True : False,
//GLX_SAMPLE_BUFFERS , glx_sample_buffers,
//GLX_SAMPLES , glx_sample_buffers > 0 ? glx_samples : 0,
None
};
ch4
1、sophus
while " cmake …" there are some warning,but these warnings have no influence ,so i select to ignore them.
ch5
1、opencv
reference blog :
https://blog.csdn.net/cocoaqin/article/details/78163171
https://blog.csdn.net/Ding_0110M/article/details/88083741
2、 pcl
- install Qt:
//----- download Qt on the official website
//---- install Qt
$ cd [path of Qt]
$ sudo chmod u+x qt-unified-linux-x64-3.1.1-online.run
$ sudo ./qt-unified-linux-x64-3.1.1-online.run
//qt-unified-linux-x64-3.1.1-online.run is Qt`s name ,please replace it with the name of your own installation pkg
- install VTK
//----- download VTK on the official website
//---- compile and install VTK-8.2.0
$ cd [path of VTK]
$ mkdir build
$ cd build
$ cmake ..
$ make -jx //x means multi-threaded compilation,according to the cpu thread of your computer,which can improve the speed of compile.
3.install PCL
//---- download PCL on github
//---- compile and install PCL
$ cd [path of VTK]
$ mkdir build
$ cd build
$ cmake ..
$ make -jx //This step will take some time,please be patient
if you encounter some errors ,you may need to install the following libraries:
$ sudo apt-get update
$ sudo apt-get install git build-essential linux-libc-dev
$ sudo apt-get install cmake cmake-gui
$ sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
$ sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
$ sudo apt-get install libflann1.8 libflann-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libboost-all-dev
$ sudo apt-get install libqhull* libgtest-dev
$ sudo apt-get install freeglut3-dev pkg-config
$ sudo apt-get install libxmu-dev libxi-dev
$ sudo apt-get install mono-complete
ch6
1、ceres
//---- install dependency for ceres
$ sudo apt-get install liblapack-dev
$ sudo apt-get install libsuitesparse-dev
$ sudo apt-get install libcxsparse3.1.4
$ sudo apt-get install libgflags-dev
$ sudo apt-get install libgoogle-glog-dev
$ sudo apt-get install libgtest-dev
//---- compile and install
node:view version of dependency for Ubuntu16.04 https://packages.ubuntu.com/
reference blog1、blog2.
2、g2o
//---- install dependency for g2o
$ sudo apt-get install libqt4-dev
$ sudo apt-get install qt4-qmake
$ sudo apt-get install libqglviewer-dev
$ sudo apt-get install libsuitesparse-dev
$ sudo apt-get install libcxsparse3.1.4
$ sudo apt-get install libcholmod3.0.6
//----- compile and install
ch10
问题1:
在编译 g2o_custombundle 时出现一下问题
g2o/solvers/cholmod/linear_solver_cholmod.h: 没有那个文件或目录
分析原因:
在安装g2o库时,缺少指定的依赖项。
解决方案:
1)卸载g2o库
sudo rm -r /usr/local/include/g2o //删除g2o的头文件,位于/usr/local/include/g2o下
sudo rm -r /usr/local/lib/libg2o* //删除g2o的库文件,位于/usr/local/lib下
sudo rm -r /usr/local/bin/g2o* //删除g2o的可执行文件,位于/usr/local/bin下
sudo rm -r /usr/local/lib/cmake/文件名 //g2o在cmake中不存在相关文件 别的库可能会存在 记录一下供参考
参考blog1
2)安装依赖项
在这里插入代码片
sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev
参考blog2
3)重新编译g2o
/××××××××××××××××××××××××××××××××××××××××××××××××××××××××××/
参考博客:
视觉SLAM笔记(53) g2o 操作后端优化
深入理解图优化与g2o:g2o篇
ch11
**问题1:**在 cmake … 时
Could not find a package configuration file provided by "GTSAM" with any of
the following names:
GTSAMConfig.cmake
gtsam-config.cmake
Add the installation prefix of "GTSAM" to CMAKE_PREFIX_PATH or set
"GTSAM_DIR" to a directory containing one of the above files. If "GTSAM"
provides a separate development package or SDK, be sure it has been
installed.
-- Configuring incomplete, errors occurred!
See also "/home/tdt/slambook/ch11/build/CMakeFiles/CMakeOutput.log".
分析原因:系统未配置 GTSAM 库
解决方案:安装 GTSAM 库
//----1、到官网下载安装包官网有详细的介绍。
node1:注意对BOOST和CMake有版本要求(我下载的是最新版本 GTSAM 3.2.1 Release)
Prerequisites:
BOOST version 1.43 or higher (install through Linux repositories or MacPorts)
CMake (http://www.cmake.org/) 2.6 or higher
==>查看自己系统的BOOST版本
$ dpkg -S /usr/include/boost/version.hpp
node2: 针对外网下载速度较慢的问题,可以考虑在win系统下复制下载链接在迅雷下载。
//-----2、编译安装
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
node1: cmake …时会出现一个warning,对编译没有影响,就没有深究原因。
CMake Warning at CMakeLists.txt:436 (message):
MKL was not found - this is ok, but note that MKL yields better
performance. Set GTSAM_WITH_EIGEN_MKL to 'Off' to disable this warning.
node2:make 时出现错误
/usr/include/boost/serialization/detail/stack_constructor.hpp:54:9: error: ‘load_construct_data_adl’ is not a member of ‘boost::serialization’
boost::serialization::load_construct_data_adl(
解决方法:
在这里插入代码片在
gtsam/inference/Ordering.cpp
usr/include/boost/serialization/detail/stack_constructor.hpp
文件中,添加
#include <boost/serialization/serialization.hpp>
usr/include/boost/serialization/detail/stack_constructor.hpp 文件是只读文件在修改时,先进入root权限
// usr/include/boost/serialization/detail 目录下
$ sudo su
$ gedit stack_constructor.hpp
//修改后保存即可
/××××××××××××××××××××××××××××××××××××××××××××××××××××××××××/
问题2:
https://blog.csdn.net/xiaocainiaodeboke/article/details/52851617
ch13
配置octomap:
依赖项:
sudo apt-get install doxygen
下载链接:
https://github.com/OctoMap/octomap
编译、安装即可
err 运行octomap_mapping.cpp 时:段错误
vector<Eigen::Isometry3d> poses; // 相机位姿
//修改为
vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>> poses;
参考[blog]:
https://blog.csdn.net/luanfei3717/article/details/80268597?utm_source=blogxgwz6