视觉SLAM笔记--第1篇: Ubuntu16.04搭建SLAM开发环境

参考博客

[博客链接]:
https://blog.csdn.net/qq_38373843/article/details/82792720

1. Eigen线性代数库

• apt安装

sudo apt-get install libeigen3-dev
sudo updatedb
locate eigen3

• 源码安装
  直接官网下载安装包，安装
  Eigen3安装包下载网址：Eigen3.3.6安装包

# 解压
unzip eigen3.3.6

# 移动eigen3.3.6到/usr/local/include并改名
sudo mv eigen3.3.6 /usr/local/include/eigen3

# 复制eigen3中的头文件到include下
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include 

# 将/usr/local/include/eigen3/cmake/FindEigen3.cmake文件复制到/usr/share/cmake-3.5/Modules/对应目录下
sudo cp /usr/local/include/eigen3/cmake/FindEigen3.cmake /usr/share/cmake-3.5/Modules

• 应用

#在CMakeLists.txt文件中添加Eigen头文件的目录
include_directories("/usr/include/eigen3")

2. Opencv开源视觉库

• 下载
  OpenCV-3.4.0下载地址(国内镜像)

• 安装依赖库

sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev
sudo apt install libtiff5-dev

• 解压安装

unzip opencv-3.4.0 
cd opencv-3.4.0
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j2
sudo make install

• 应用

# 在CMakeLists.txt中添加
find_package( OpenCV REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

3. Sophus李代数库

• 下载

git clone http://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff

• 编译安装

mkdir build
cd build
cmake ..
make -j2
sudo make install

• 应用

# 在CMakeLists.txt中添加
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )

4. Ceres-Solver非线性优化库

• 安装依赖项

# 安装1.14版本，以便于eigen兼容
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev

• 编译安装

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j2
sudo make install

• 应用

# 首先将文件夹cmake_modules复制到工程文件夹下,然后在CMakeLists.txt中添加
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
find_package( Ceres REQUIRED )
include_directories( ${CERES_INCLUDE_DIRS} )

• 卸载

sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a

5. g2o图优化库

• 安装依赖库

# 下载该版本g2o-20200410
sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.4 libcholmod3.0.6

• 编译安装

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make -j2
sudo make install

• 应用

# 首先将文件夹cmake_modules复制到工程文件夹下,然后在CMakeLists.txt中添加
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
find_package( G2O REQUIRED )
include_directories( 
    ${G2O_INCLUDE_DIRS}
    "/usr/include/eigen3"
)

6. PCL点云库

• 安装pcl-1.7

sudo apt-get install libpcl-dev pcl-tools

• 应用

# 在CMakeLists.txt中添加
find_package( PCL REQUIRED COMPONENT common io )
include_directories( ${PCL_INCLUDE_DIRS} )
add_definitions( ${PCL_DEFINITIONS} )

7. Pangolin三维显示库

• 安装依赖项

sudo apt-get install libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev

• 编译安装

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST= 1 ..
make -j2
sudo make install

8. 安装IDE—VScode

• 下载
  VScode官网: 下载64位 .deb格式的文件.

• 安装并启动

# 安装.deb文件
sudo dpkg -i code_1.44.1-1586789296_amd64.deb

# 启动VScode
code

• 安装官方插件

# 启动后可以在VScode里面安装插件: 汉化, C/C++, Python等.

后续计划

后续进行pytorch的学习!!!