1、安装相关依赖:
sudo apt-get install libeigen3-dev
sudo apt-get install libtbb-dev
2、gtsam (Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2)
wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install
注意:
编译之前需要把系统关闭,防止冲突,后续实验无法安装好
cmake -DGTSAM_BUILD_WITH_MARCH_NAITVE=OFF -DGTSAM_USE_SYSTEM_EIGEN=ON ..
等待安装成功