Prepare to develope the SLAM

install Essential packages for develope SLAM (ubuntu 14.04 LTS)

1. Cmake

some of packges requires high version more than Cmake 3.5, so i installed 3.10.2

wget https://cmake.org/files/v3.10/cmake-3.10.0.tar.gz
tar -xvf cmake-3.10.0.tar.gz
cd cmake-3.10.0
./bootstrap
make -j
make -j install 

2. eigen3

  sudo apt-get install libopenblas-dev
  sudo apt-get install --no-install-recommends libboost1.58-all-dev 
  sudo apt-get install libx11-dev sudo apt-get install libgl1-mesa-dev 
  sudo apt-get install libglu1-mesa-dev
  sudo apt-get install freeglut3-dev 
  sudo apt-get install doxygen 
  sudo apt-get install cmake
  sudo wget https://nchc.dl.sourceforge.net/project/glew/glew/2.1.0/glew-2.1.0.tgz
  sudo tar -xzvf glew-2.1.0.tgz cd glew-2.1.0/
  sudo make
  sudo make install 
  sudo ldconfig -v

wget http://bitbucket.org/eigen/eigen/get/3.3.5.tar.gz


    tar -zxvf 3.3.5.tar.gz
    cd eigen-eigen-b3f3d4950030/
    mkdir build
    cd build
    cmake .. -DCMAKE_INSTALL_PREFIX=yourprefix
    make install

3. ceres-solver

many web site says use this command,

git clone https://ceres-solver.googlesource.com/ceres-solver
or:
http://ceres-solver.org/ceres-solver-1.13.0.tar.gz

but i couldn’t used this command. So i changed the other way to download and enter to this website, i could download and installed.

https://launchpad.net/ubuntu/+source/ceres-solver/1.14.0-4

and
download this package “ceres-solver_1.14.0.orig.tar.gz”

  google-glog + gflags sudo apt-get install libgoogle-glog-dev 
  BLAS & LAPACK sudo apt-get install libatlas-base-dev 
  Eigen3 sudo apt-get install libeigen3-dev 
repository: sudo apt-get install libsuitesparse-dev
   # add the following PPA: sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
    sudo apt-get update sudo apt-get install libsuitesparse-dev
tar zxf ceres-solver-1.14.0.orig.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0.orig.tar.gz
make -j3
make test
make install

4. sophus

this package is use c++ for linear algebra package.

git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ..
make

5. g2o

https://github.com/RainerKuemmerle/g2o/
enter this website according to guide, before install this package must installed eigen, cmake,
and i installed use with this command .

sudo apt-get install 

libsuitesparse-dev
qtdeclarative4-dev
qt4-qmake
libqglviewer-dev  

6. pangolin

**discovered some error in this step.
error massage :

pangolin/include/mpark/variant.hpp:2345:34: note: substitution of deduced template arguments resulted in errors above 

-Solution
use this command i could installed without any problems

git clone https://github.com/zzx2GH/Pangolin.git

REFERENCE

*install cmake
https://blog.csdn.net/xingfe123/article/details/78808098
*eigen3
https://blog.csdn.net/xiangxianghehe/article/details/81236299

*install ceres-solver
https://blog.csdn.net/xiat5/article/details/79164059
*install sophus
https://blog.csdn.net/wb790238030/article/details/88014059