github地址:
https://github.com/TixiaoShan/LVI-SAM
大佬已经在github上列出了详细的步骤了,但在我电脑上还有几处报错,那么在此提供给大家:
本机ros版本kinetic
安装gtsam
wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j4