安装slam开发环境，包括pcl和opencv+contrib等。

全新安装的ubuntu1604,按以下安装步骤安装，验证可用。先切换软件源为清华的源，https://blog.csdn.net/liu6886/article/details/81090050。eigen在安装opencv时已经安装了，所以后面没有单独写。

1.先安装cmake,建议装3.14.5,源码安装,再安装cmake-gui,  sudo apt-get install cmake-qt-gui
2.装vtk  
先安装QT5,从Qt官网下载开源版本，官网地址：https://www.qt.io/download-open-source/#section-2
sudo chmod u+x qt-unified-linux-x64-3.0.2-online.run
sudo ./qt-unified-linux-x64-3.0.2-online.run
 
    2.1 sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
    2.2 sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
    2.3 sudo apt-get install freeglut3-dev
    2.4 sudo apt-get install qt4-default
    2.5 cmake-gui,选中“VTK_GROUP_Qt”选项，再次点击“Configure”按钮，
3.安装opencv+opencvcontrib 3.4.3
    
    sudo apt-get install build-essential  
    sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev  
    sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev  
    sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev liblapacke-dev  
    sudo apt-get install libxvidcore-dev libx264-dev  
    sudo apt-get install libatlas-base-dev gfortran  
    sudo apt-get install ffmpeg
        sudo apt-get libeigen3-dev
        sudo apt-get install libopenni2-dev
        sudo apt-get -y install libavresample-dev
        sudo apt-get -y install libgphoto2-dev
sudo apt-get install libopenblas-dev
sudo apt-get -y install libgstreamer-plugins-base1.0-dev
sudo apt-get -y install libgstreamer1.0-dev
sudo apt-get install libgtk-3-dev
 
安装过程要下载的两个文件，放在.cach中，可以从cmake-gui中查看名字，然后 修改名字再放到cach中即可
    1、安装成功后还需要设置opencv的环境变量。打开文件：
 
    sudo gedit /etc/ld.so.conf.d/opencv.conf
 
    2、将以下内容添加到最后：
 
    /usr/local/lib
 
    3、接下来配置库：
 
    sudo ldconfig
 
    4、更改环境变量：
 
    sudo gedit /etc/bash.bashrc
 
    5、在文件后添加：
 
        PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
        export PKG_CONFIG_PATH
 
    6、保存退出，在运行下面的例程之前，需要重新开启终端来使配置生效。
 
4.装pcl，用cmake-tool选择cmake选项，注意visualization模块
sudo apt-get update  
sudo apt-get install git build-essential linux-libc-dev  
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev  
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
sudo apt-get install libflann1.8 libflann-dev  
sudo apt-get install libeigen3-dev sudo apt-get install libboost-all-dev  
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev  
sudo apt-get install libqhull* libgtest-dev  
sudo apt-get install freeglut3-dev pkg-config  
sudo apt-get install libxmu-dev libxi-dev  
sudo apt-get install mono-complete  
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
如果需要PCLVisualizer。安装OpenNI、OpenNI2
 
    sudo apt-get install libopenni-dev    
    sudo apt-get install libopenni2-dev
安装ensensor
sudo dpkg -i ensenso-sdk-2.2.147-x64.deb  
sudo dpkg -i codemeter_6.80.3312.500_amd64.deb

5.安装sophus
6. 安装Pangolin
先安装sudo apt-get install libglew*-dev
7.安装g2o
8.安装ceres
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libsuitesparse-dev
再安装ceres
8.安装DBow3