一、Cartographer简介
Cartographer是google开源的通用2D和3D定位与地图同步构建的SLAM工具,并提供ROS接口。官网地址:https://github.com/googlecartographer
二、安装方法
1、安装全部依赖项
sudo apt-get updatesudo apt-get install -y \
cmake \
g++\
git \
google-mock \
libboost-all-dev \
libeigen3-dev \
libgflags-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libprotobuf-dev \
libsuitesparse-dev \
libwebp-dev \
ninja-build \
protobuf-compiler \
python-sphinx \
ros-kinetic-tf2-eigen \
libatlas-base-dev \
libsuitesparse-dev \
liblapack-dev
2、安装ceres solver,下载安装在主目录下,由于googlesource.com需要FQ,这里使用hitcm(张明明)的github地址
# Build and installCeres.
# git clone https://ceres-solver.googlesource.com/ceres-solver
# cd ceres-solver
git clone