源码可在https://github.com/learnmoreonce/SLAM 下载
安装十分简单,参照官方指南,使用以下命令即可。
# Install the required libraries that are available as debs.
sudo apt-get update
sudo apt-get install -y \
cmake \
g++ \
git \
google-mock \
libboost-all-dev \
libcairo2-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libprotobuf-dev \
libsuitesparse-dev \
libwebp-dev \
ninja-build \
protobuf-compiler \
python-sphinx
# Build and install Ceres.
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build
cd build
cmake .. -G Ninja
ninja
ninja test
sudo ninja install
# Build and install Cartographer.
cd cartographer
mkdir build