SLAM(0)

介绍玩转SLAM所必须的几个基本工具，借助这些工具才能高效的编写SLAM程序。

一、环境配置

系统环境:Ubuntu20.04
计算机：x86(64bit)
必备软件：Opencv，PCL，G2o，Eigen，
Ceres，Sophus，Pangolin

1. The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.
2. g2o is an open-source C++ framework for optimizing graph-based nonlinear error functions. g2o has been designed to be easily extensible to a wide range of problems and a new problem typically can be specified in a few lines of code. The current implementation provides solutions to several variants of SLAM and BA.
3. Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
4. Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It can be used to solve Non-linear Least Squares problems with bounds constraints and general unconstrained optimization problems.
5. Sophus is a c++ implementation of Lie groups commonly used for 2d and 3d geometric problems (i.e. for Computer Vision or Robotics applications). Among others, this package includes the special orthogonal groups SO(2) and SO(3) to present rotations in 2d and 3d as well as the special Euclidean group SE(2) and SE(3) to represent rigid body transformations (i.e. rotations and translations) in 2d and 3d.
6. Pangolin is a set of lightweight and portable utility libraries for prototyping 3D, numeric or video based programs and algorithms. It is used quite widely in the field of Computer Vision as a means to remove platform-specific boilerplate and make it easy to visualize data.

上述几个工具在所述的配置环境下顺利安装完成。

文献:
[1] Eigen官方主页：

[2] Sophus in github：

[3] OpenCV官网：

[4] PCL官网：

[5] Ceres官网：

[6] G2O in github：

[7]《视觉SLAM十四讲》之开源库的安装：Eigen、Sophus、ceres、Opencv、PCL、G2O、Pangolin、DBoW3
[8]SLAM本质剖析-Eigen
[9]SLAM本质剖析-G2O
[10]SLAM本质剖析-Sophus
[11]一起做RGB-D SLAM (1)
[12]Ceres入门——Ceres的基本使用方法
[13]一文助你Ceres 入门——Ceres Solver新手向全攻略
[14]slam中ceres的用法解析