Ubuntu20.04 SLAM第三方库安装

本文涉及的主要内容

本文基于《视觉SLAM十四讲》内容，安装一些第三方库，主要有：Pangolin、Sophus、OpenCV、Ceres-Solver、g2o、DBoW3、gtsam、fmt等。

Pangolin

# Get Pangolin, use latest stable branch recommended
cd ~/your_fav_code_directory
git clone --recursive https://github.com/stevenlovegrove/Pangolin.git -b v0.8
cd Pangolin

# Dependencies
# See what package manager and packages are recommended
# ./scripts/install_prerequisites.sh --dry-run recommended
# Override the package manager choice and install all packages
# ./scripts/install_prerequisites.sh -m brew all

# Install dependencies (as described above, or your preferred method)
./scripts/install_prerequisites.sh recommended

# Configure and build
cmake -B build
cmake --build build

# with Ninja for faster builds (sudo apt install ninja-build)
cmake -B build -GNinja
cmake --build build
sudo make install
# GIVEME THE PYTHON STUFF!!!! (Check the output to verify selected python version)
# cmake --build build -t pypangolin_pip_install

# Run me some tests! (Requires Catch2 which must be manually installed on Ubuntu.)
# ctest

Sophus

# 获取源码
git clone https://github.com/strasdat/Sophus.git

# 编译安装
cd Sophus
cmake -B build
cmake --build build
cd build && sudo make install

OpenCV

# get source code
git clone https://github.com/opencv/opencv

# build && install
mkdir build && cd build
cmake ..
make
sudo make install

遇到问题：

modules/python/src2/cv2.cpp:885:34: error: invalid conversion from ‘const char*’ to ‘char*’ [-fpermissive]
char* str = PyString_AsString(obj);
modules/python3/CMakeFiles/opencv_python3.dir/build.make:62: recipe for target 'modules/python3/CMakeFiles/opencv_python3.dir/__/src2/cv2.cpp.o' failed
make[2]: *** [modules/python3/CMakeFiles/opencv_python3.dir/__/src2/cv2.cpp.o] Error 1
CMakeFiles/Makefile2:5446: recipe for target 'modules/python3/CMakeFiles/opencv_python3.dir/all' failed
make[1]: *** [modules/python3/CMakeFiles/opencv_python3.dir/all] Error 2
Makefile:162: recipe for target 'all' failed
make: *** [all] Error 2

解决办法：
编辑报错文件：/your/path/of/opencv/modules/python/src2/cv2.cpp第885行

// before
bool pyopencv_to(PyObject* obj, String& value, const char* name)
{
    (void)name;
    if(!obj || obj == Py_None)
        return true;
    char* str = PyString_AsString(obj); // This is row 885.
    if(!str)
        return false;
    value = String(str);
    return true;
}
// after
bool pyopencv_to(PyObject* obj, String& value, const char* name)
{
    (void)name;
    if(!obj || obj == Py_None)
        return true;
    const char* str = PyString_AsString(obj);
    if(!str)
        return false;
    value = String(str);
    return true;
}

Ceres-Solver

# install dependences
sudo apt install libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libsuitesparse-dev liblapack-dev libcxsparse3.1.2 libgflags-dev libgtest-dev

# get source code
git clone https://github.com/ceres-solver/ceres-solver.git

# build && install
cd ceres-solver
cmake -B build
cmake --build build
cd build && sudo make install

g2o

# install dependences
sudo apt install libeigen3-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev

# get source code
git clone https://github.com/RainerKuemmerle/g2o.git

# build & install
cd g2o
mkdir build
cd build
cmake ..
make
sudo make install

gtsam

# get source code
git clone https://bitbucket.org/gtborg/gtsam.git

# install dependences
sudo apt-get install libboost-all-dev libtbb-dev

# build & install
mkdir build
cd build
cmake ..
make check (optional, runs unit tests)
sudo make install

DBow3

DBow3依赖OpenCV，因此需要注意需要先编译安装OpenCV，再编译DBow3。

# get source code
git clone https://github.com/rmsalinas/DBow3

# build & install
mkdir build
cd build
cmake ..
make
sudo make install

fmt

# get source code
git clone https://github.com/fmtlib/fmt.git
cd fmt
# build & install
mkdir build && cd build
cmake -DBUILD_SHARED_LIBS=TRUE ..
sudo make install