SLAM中第三方库的相关安装问题

ch5

装PCL

sudo apt-get install libpcl-dev pcl-tools 

使用ubuntu16.04运行joinMap时，有一个错误的引用，需要在cmakelist.txt的find_package(PCL REQUIRED COMPONENTS common io)后面加上一句

list(REMOVE_ITEM  PCL_LIBRARIES "vtkproj4")

可能会发生opencv的路径问题

Error:Found package configuration file:
/home/opencv-3.1.0/cmake/OpenCVConfig.cmake
but it set OpenCV_FOUND to FALSE so package “OpenCV” is considered to be NOT FOUND.

在cmakelist.txt中的
find_package( OpenCV REQUIRED )
之前加上下面两句

set(OpenCV_DIR     /home/opencv-3.1.0/build)
set( OpenCV_FOUND 1 )

ch6

安装ceres
会发现有CXsparse egien3等未安装

sudo apt-get install libcxsparse3.1.4 libsuitesparse-dev libeigen3-dev libgoogle-glog-dev  libgtest-dev
cmake ..
make -j8
sudo make install

安装g2o
Coul