1.更新apt库,安装gcc
apt-get update
sudo apt install build-essential
该命令将安装一堆新包,包括gcc,g ++和make。
要验证GCC编译器是否已成功安装:
gcc --version
2.安装git,用于从Github上克隆项目到本地
sudo apt-get install git
3.安装cmake,用于程序的编译
源码安装步骤
tar -xvf cmake-3.16.8.tar 解压
cd cmake-3.16.8
sudo ./bootstrap
sudo make
sudo make install
cmake --version
编译时提示如下的类似信息时:
Could NOT find OpenSSL, try to set the path to OpenSSL root folder in the system variable OPENSSL_ROOT_DIR (missing: OPENSSL_LIBRARIES OPENSSL_INCLUDE_DIR)
在 Ubuntu 系统上的解决方法是,在命令行输入如下命令:
apt-get install libssl-dev
安装 openssl 的编译依赖。这样一般就能解决我们遇到的问题了。
4.Eigen安装(版本3.3.4)
4.1命令行安装
apt-get方式(假设默认安装到/usr/local/include里(可在终端中输入locate eigen3查看位置),若实际中默认安装到了/usr/include的话,可以对应替换下面命令的相应部分)
运行命令:
sudo apt-get install libeigen3-dev
4.2源码安装(复杂些)
安装包下载网址:
http://eigen.tuxfamily.org/index.php?title=Main_Page
运行命令:
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
注意:参考cp指令 cp -r /usr/men /usr/zh 将目录/usr/men下的所有文件及其子目录复制到目录/usr/zh中。
上个命令的说明:
因为eigen3 被默认安装到了usr/local/include里了(或者是usr/include里,这两个都差不多,都是系统默认的路径),在很多程序中include时经常使用#include <Eigen/Dense>而不是使用#include <eigen3/Eigen/Dense>所以要做下处理,否则一些程序在编译时会因找不到Eigen/Dense而报错。上面指令将usr/local/include/eigen3文件夹中的Eigen文件递归地复制到上一层文件夹(直接放到/usr/local/include中,否则系统无法默认搜索到 -> 此时只能在CMakeLists.txt用include_libraries(绝对路径了))。
5.安装pangolin
5.1安装依赖库
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
5.2获取pangolin,并用cmake编译(在此期间可能需要更新一下你的git版本)
```xml
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make
sudo make install
6.opencv安装(版本3.2.0)
6.1自己手动编译安装
首先安装OpenCV的依赖文件,在终端运行下面命令:
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
6.2下载最新的OpenCV源码包
官网下载:http://opencv.org/opencv-3-2.html、
6.3解压安装
tar xvf opencv-3.2.0.tar.gz //解压
cd opencv-3.2.0/
mkdir build cd build
//sudo cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH= ..
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3 -D ENABLE_PRECOMPILED_HEADERS=OFF ..
make
sudo make install
若安装出现如下错误:
解决方法:
下载ippicv_linux_20151201.tgz并替换
./opencv-3.2.0/3rdparty/ippicv/downloads/linux-808b791a6eac9ed78d32a7666804320e下的文件
其他错误:
近期需要在ubuntu18.04系统上安装opencv但是在安装依赖包的过程中,有一个依赖包,libjasper-dev在使用命令:
sudo apt-get install libjaster-dev
提示:errorE: unable to locate libjasper-dev
后来google到解决办法,复制到这里
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"sudo apt updatesudo apt install libjasper1 libjasper-dev
成功的解决了问题,其中libjasper1是libjasper-dev的依赖包
6.4测试是否安装成功:
运行命令:pkg-config --cflags --libs opencv 出现下面信息:
licaibiao@ubuntu:~/test/OpenCV$ pkg-config --cflags --libs opencv
-I/usr/local/include/opencv -I/usr/local/include -L/usr/local/lib -lopencv_shape -lopencv_stitching -lopencv_objdetect -lopencv_superres -lopencv_videostab -lopencv_calib3d -lopencv_features2d -lopencv_highgui -lopencv_videoio -lopencv_imgcodecs -lopencv_video -lopencv_photo -lopencv_ml -lopencv_imgproc -lopencv_flann -lopencv_core
licaibiao@ubuntu:~/test/OpenCV$
6.5卸载
https://blog.csdn.net/yikakabu/article/details/90265862
7.DBow3安装
7.1从Github上现在DBow3词袋模型库
git clone https://github.com/rmsalinas/DBow3.git
7.2开始安装DBow3库,进入DBow3目录
mkdir build
cd build
cmake ..
make
sudo make install
8.g2o安装
git源码:
git clone https://github.com/RainerKuemmerle/g2o.git
首先按照github对依赖进行更新:
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install qtdeclarative5-dev
sudo apt-get install qt5-qmake
sudo apt-get install libqglviewer-dev
进行编译,大约十几分钟
cd g2o
mkdir build
cd build
cmake ..
make
sudo make install
9.orb_slam2编译
chmod +x build.sh
./build.sh
10.测试
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml ../data/rgbd_dataset_freiburg1_desk