SLAM学习（持续更新）

//其他工具+依赖
sudo apt install git//用于git clone...
sudo apt install g++
sudo apt install kdevelop//IDE工具
sudo apt-get install libeigen3-dev //eigen3
sudo apt-get install libatlas-base-dev libsuitesparse-dev 
sudo apt-get install libgtk-3-dev ffmpeg 
sudo apt-get install libavcodec-dev libavformat-dev libavutil-dev libswscale-dev libavresample-dev 
sudo apt-get install gfortran
sudo apt-get install libyaml-cpp-dev libgoogle-glog-dev libgflags-dev
sudo apt-get install libglew-dev

//ROS///
//ubuntu18对应ros melodic
//设置sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
//设置密钥（选一个）
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
//安装
sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
//初始化rosdep
sudo rosdep init
rosdep update
//添加ros环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
//测试：打开小乌龟需要三个终端：
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

///opencv
//依赖
sudo apt-get install build-essential
sudo apt-get install libgtk2.0-dev
sudo apt-get install libjpeg-dev
sudo apt-get install libtiff5-dev

sudo apt-get install libjasper-dev   //如果失败换下面3行
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

sudo apt-get install libopenexr-dev
sudo apt-get install libtbb-dev

//安装
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j3
sudo make install
//切换版本
1、打开文件：
   sudo gedit ~/.bashrc 
2、在文件末尾添加以下内容，然后保存：
   export PKG_CONFIG_PATH=/usr/local/opencv-3.2.0/lib/pkgconfig  
   export LD_LIBRARY_PATH=/usr/local/opencv-3.2.0/lib  
3、输入命令：
   source ~/.bashrc  
4、继续输入查询OpenCV版本
   pkg-config --modversion opencv  
   pkg-config --cflags opencv  
   pkg-config --libs opencv  
//卸载
//进入build文件夹
sudo make uninstall
cd ..
sudo rm -r build
sudo rm -r /usr/local/include/opencv2 /usr/local/include/opencv /usr/include/opencv /usr/include/opencv2 /usr/local/share/opencv /usr/local/share/OpenCV /usr/share/opencv /usr/share/OpenCV /usr/local/bin/opencv* /usr/local/lib/libopencv*
//找所有opencv关键词文件
sudo find / -iname "*opencv*" > /home/ubuntu/Desktop/opencv_find.txt

//g2o///
//下载
git clone https://github.com/RainerKuemmerle/g2o.git
//依赖
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
//编译
cd g2o
mkdir build
cd build
cmake ..
make
//安装
sudo make install

//DBoW2/
git clone https://github.com/shinsumicco/DBoW2.git
cd DBoW2
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4
sudo make install

//byaml-cpp///
sudo apt-get install -y libyaml-cpp-dev

//构建和安装Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
git checkout ad8b5f83222291c51b4800d5a5873b0e90a0cf81
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4
sudo make install

//构建和安装socket.io-client-cpp//
git clone https://github.com/shinsumicco/socket.io-client-cpp
cd socket.io-client-cpp
git submodule init
git submodule update
mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DBUILD_UNIT_TESTS=OFF \
    ..
make -j4
sudo make install

//安装Protobuf/
sudo apt-get install libprotobuf-dev protobuf-compiler

//安装+构建openvslam/
//注意opencv版本大于4.0
cd openvslam
mkdir build && cd build
cmake \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DUSE_PANGOLIN_VIEWER=ON \
    -DUSE_SOCKET_PUBLISHER=ON \
    -DUSE_STACK_TRACE_LOGGER=ON \
    -DBOW_FRAMEWORK=DBoW2 \
    -DBUILD_TESTS=ON \
    ..
make -j4