ubuntu安装SLAM所需的库的方法

一、安装Eigen3

安装步骤

//从Github下载eigen3
git clone https://github.com/eigenteam/eigen-git-mirror
sudo apt-get install libeigen3-dev
// 在CmakeLists中添加
include_directories("/usr/include/eigen3")

二、安装Pangolin

//安装依赖项
sudo apt-get install libglew-dev libpython2.7-dev
//从Github下载Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j4
sudo make install

三、安装fmt

去官网下载8.1.1版本，链接：Overview — fmt 8.1.1 documentation

下载完之后，定位到下载的fmt包文件夹下

cd fmt
mkdir build
cd build
cmake ..
make
sudo make install
//在用到fmt时候，需要在CmakeLists中添加

find_package(FMT REQUIRED)
target_link_libraries(your_program_name fmt::fmt)    //your_program_name是程序名

四、安装Sophus

git clone https://github.com/strasdat/Sophus.git
cd Sophus
mkdir build
cd build
cmake ..
sudo make install

五、安装Ceres

git clone https://github.com/ceres-solver/ceres-solver
cd ceres-solver
mkdir build && cd build
cmake ..
make -j4
sudo make install

//在CMakeList.txt中添加头文件和库文件路径的命令:
find_package( Ceres REQUIRED )
include_directories( ${CERES_INCLUDE_DIRS})　　　　　　　　   #添加头文件目录 
add_executable( 可执行文件名 源文件名.cpp )　　　　　　　　　　　#添加可执行文件
target_link_libraries( 可执行文件名 ${CERES_LIBRARIES} )　　#添加库文件目录

六、安装g2o

//安装依赖
sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3 cmake libeigen3-dev libsuitesparse-dev qtdeclarative5-dev libqglviewer-dev-qt5
//从Github下载g2o
git clone https://github.com/RainerKuemmerle/g2o.git　
cd g2o
mkdir build && cd build
cmake ..
make -j4
sudo make install

七、安装DBoW3

//从Github下载DBoW3
git clone https://github.com/rmsalinas/DBow3
cd DBow3
mkdir build && cd build
cmake ..
make -j4
sudo make install