融合定位学习--环境配置

融合定位学习–环境配置

##环境安装

1. ubuntu20.04

安装cmake,evo 等工具
evo如果安装不成功，可先执行

pip install --upgrade setuptools

再进行安装

sudo pip install evo --upgrade --no-binary evo

2.ROS noetic

可用apt安装

3.ceres库

git下载地址: link

git clone https://github.com/ceres-solver/ceres-solver/

链接超时的更换网络或者源

安装依赖

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev

mkdir build
cd build
cmake ..
make
sudo make install

可以通过检查/usr/local/include/ceres 目录 和 /usr/local/lib/libceres.a判断是否安装成功

4.Sophus

安装之前先下载最新的frm 并安装 ，链接: link

git clone https://github.com/strasdat/Sophus.git
cd Sophus/
mkdir build
cd build
cmake ..
make
sudo make install

5.g2o

git clone https://github.com/RainerKuemmerle/g2o

安装依赖

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
mkdir build
cd build
cmake ..
make -j4
sudo make install

6.Geographic

源码: link
解压GeographicLib-2.1.1.tar.gz

mkdir build
cd build
cmake ..
make -j4
sudo make install

7. gflags

git clone https://github.com/gflags/gflags

mkdir build
cd build
cmake ..
make -j4
sudo make install

8. glog

sudo apt-get  install libgoogle-glog-dev

9. GTSAM

https://github.com/borglab/gtsam/archive/4.0.2.zip
unzip gtsam-4.0.2.zip
cd gtsam-4.0.2

mkdir build
cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install

10. Protobuf 3.14.x

protobuf3.14.x下载链接

cd protobuf-3.14.x
./autogen.sh
./configure
make
sudo make install