ubuntu 16.04 LTS AMD64 配置SLAM环境

在ubuntu 16.04 LTS AMD64系统下配置SLAM环境，需要安装配置如下库(安装以下库需先安装cmake 与gcc):
1.Eigen3
2.OpenCV-3.1.0
3.Sophus
4.PCL-1.7.2
5.Ceres
6.g2o
7.gtsam
8.DBoW3

1.Eigen3
$ sudo apt install libeigen3-dev

2.源码编译安装OpenCV-3.1.0
1.安装依赖库
$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.使用cmake安装
$cd opencv-3.1.0
$mkdir build

$cd build
$cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local …

3.编译安装
$sudo make -j7
$sudo make install

3.Sophus（只编译，不安装）
1.下载源码:https://github.com/strasdat/Sophus
2.解压
3.使用cmake 编译
$cd sophus
$mkdir build
$cd build
$cmake …
$make -j2

4.PCL-1.7.2
1.下载源码：https://github.com/PointCloudLibrary/pcl/releases (注意下载1.7.2版本)
2.安装依赖
$sudo apt install libboost-all-dev libflann-dev libvtk6-dev libeigen3-dev
3.编译安装源码:
$cd pcl-1.7.2
$mkdir build
$cd build
$cmake -D CMAKE_BUILD_TYPE=Release …
$make -j2
$sudo make install
5.Ceres（注意：如果要安装OpenCV Contrib则需要下载release版本）
1.下载源码：https://github.com/ceres-solver/ceres-solver
2.安装依赖：
$ sudo apt install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev
$ sudo apt-get install libeigen3-dev libgflags-dev libgoogle-glog-dev
$ sudo apt-get install libatlas-base-dev
$ sudo apt-get install libeigen3-dev
$ sudo apt-get install libsuitesparse-dev
3.编译安装：
$cd ceres-solver
$mkdir build
$cd build
$cmake …
$make -j2
$sudo make install

6.g2o
1.下载源码：https://github.com/RainerKuemmerle/g2o
2.安装依赖：
$sudo apt install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.4 libcholmod3.0.6
3.编译安装：
$cd g2o
$mkdir build
$cd build
$cmake …
$make -j2
$sudo make install

7.gtsam
1.下载源码：https://bitbucket.org/gtborg/gtsam/downloads/
2.安装依赖：
$sudo apt install libtbb-dev
3.编译安装：
$cd gstam
$mkdir build
$cd build
$cmake …
$make -j2
$sudo make install

8.DBoW3
1.下载源码：https://github.com/rmsalinas/DBow3
2.编译安装：
$cd DBoW3
$mkdir build
$cd build
$cmake …
$make -j2
$sudo make install

9.OpenCV Contrib
1.下载源码：https://github.com/opencv/opencv_contrib
2.安装依赖：
$ sudo apt install python-jinja2 python3-jinja2
3.编译OpenCV Contrib会下载一些文件，可以通过离线方式下载：链接：https://pan.baidu.com/s/1o6ZU1kBC3uwNWcmzrDghZg 密码：409t
1.将其放置在：/home/hewei/source/opencv-3.4.1/.cache中
2.内容有：

4.解压，最好将包移动到OpenCV 3 的源码包内，并注意与OpenCV包版本对应，红色部分要与安装OpenCV的路径一致，紫色部分使用绝对路径
$ cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/ -D OPENCV_EXTRA_MODULES_PATH=/home/hewei/source/opencv-3.4.1/opencv_contrib-3.4.1/modules/ …
$ make -j7
$ sudo make install