ubuntu16.04 配置opencv3.4+pangolin+octomap (orbslam_semantic_nav_ros依赖库2)

1.opencv3.4

开始选了3.4.10出现错误，于是换到3.4.0，下载：https://github.com/opencv/opencv/releases/tag/3.4.0
参考https://blog.csdn.net/Ding_0110M/article/details/88083741

直接安装，为了保险

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D WITH_QT=ON -D WITH_OPENGL=ON -DVTK_QT_VERSION:STRING=5       -DQT_QMAKE_EXECUTABLE:PATH=/opt/Qt5.9.4/5.9.4/gcc_64/bin/qmake       -DVTK_Group_Qt:BOOL=ON       -DCMAKE_PREFIX_PATH:PATH=/opt/Qt5.9.4/5.9.4/gcc_64/lib/cmake   .. 
//好像可以直接cmake ..
make
sudo make install    

可能会有
Checking for module ‘libavresample’
– No package ‘libavresample’ found
– Checking for module ‘libgphoto2’
– No package ‘libgphoto2’ found
但其实不影响，可以不管。
参考https://blog.csdn.net/weixin_41896508/article/details/80795239可以解决
sudo apt-get -y install libavresample-dev
sudo apt-get -y install libgphoto2-dev

环境配置

//环境配置添加库路径
sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
//更新系统库：
sudo ldconfig
//.配置bash，执行如下命令
sudo vim /etc/bash.bashrc  //gedit
//在末尾添加
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH
//保存退出，然后执行如下命令使得配置生效
sudo -s
source /etc/profile
source /etc/bash.bashrc//激活配置然后更新database
updatedb  

测试可以https://github.com/DawnYue/ubuntu

2.pangolin

就参考github即可，下载同https://github.com/stevenlovegrove/Pangolin
Required Dependencies要求
sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt install cmake

Recommended Dependencies推荐
sudo apt install libpython2.7-dev
sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols

Optional Dependencies for video input可选
sudo apt install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
sudo apt install libdc1394-22-dev libraw1394-dev
sudo apt install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
总

sudo apt install libglew-dev cmake libpython2.7-dev libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols  ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev libdc1394-22-dev libraw1394-dev libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev

安装
mkdir build
cd build
cmake …
make
sudo make install

3.octomap

下载https://github.com/OctoMap/octomap
安装
mkdir build
cd build
cmake …
make
sudo make install

csdn链接

opencev3.4.0+pangokin+octomap
https://download.csdn.net/download/qq_45539458/12487757