ubuntu16.04运行ISC-LOAM

#仅作为笔记
环境
Ubuntu 64-bit 18.04. #ubuntu16.04测试出现轨迹漂移的问题，转成ubuntu18.04暂未出现问题
Ceres Solver
PCL
GTSAM
OPENCV
Trajectory visualization

1. Ceres Slover

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev 
sudo apt-get install libgoogle-glog-dev libgtest-dev
#github上下载压缩文件
https://github.com/ceres-solver/ceres-solver
tar -xzvf ceres-solves tar.gz
cd ceres-solves
mkdir build && cd build 
camke .. && make -j4
sudo make install

2. PCL 1.8.0

sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libqhull* libgtest-dev  
sudo apt-get install freeglut3-dev pkg-config  
sudo apt-get install libxmu-dev libxi-dev   
sudo apt-get install mono-complete   
sudo apt-get install libopenni-dev   
sudo apt-get install libopenni2-dev 
# X11
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
#OpenGL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
#cmake
sudo apt-get install cmake cmake-gui 

#源码安装vtk7.1.1
Download | VTK，我选择了VTK-7.1.1.tar.gz，下载完成后解压缩到你的文件安装目录。输入cmake-gui打开cmake图形界面：
配置“where is the source code”的路径为vtk-7.1.1所在的目录
在vtk-7.1.1目录新建build文件夹，配置“where to build the binaries”为build文件夹
点击Configure，配置完成后提示configure done
选择“VTK_GROUP_QT”再次点击configure
配置完成后点击generate按钮，会在build文件夹下生成工程文件

cd VTK-7.1.1/build
make -j4
sudo make install

安装pcl

cd pcl 
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None ..
make -j4
sudo make install

3. GTSAM

git clone https://github.com/borglab/gtsam.git
mkdir build && cd build
cmake .. && make -j4
sudo make install

4. OpenCV

https://opencv.org/releases/          #下载对应版本的opencv
#安装过程参考：
https://blog.csdn.net/Ding_0110M/article/details/88083741

5. Trajectory visualization

sudo apt-get install ros-melodic-hector-trajectory-server

6. 安装isc-loam

cd ~/catkin_ws/src
git clone https://github.com/wh200720041/iscloam.git
cd ..
catkin_make -j1
source ~/catkin_ws/devel/setup.bash

7. 测试
   数据集下载：

https://drive.google.com/open?id=18ilF7GZDg2tmT6sD5pd1RjqO0XJLn9Mv
https://drive.google.com/open?id=1VpoKm7f4es4ISQ-psp4CV3iylcA4eu0-

#下载之后解压
sudo apt-get install unzip 
cd ~/Downloads
unzip ~/Downloads/2011_09_30_0018.zip

#测试，launch文件修改数据集绝对路径
roslaunch iscloam iscloam.launch        #kitti数据集采用64线激光雷达，该launch文件定位模式，只建局部地图
roslaunch iscloam iscloam_mapping.launch   #建全局地图

测试其他kitti数据集，需要下载kitti raw data原始数据集，之后转成rosbag，主要用到kitti_to_rosbag的包：

cd ~/catkin_ws/src
git clone https://github.com/ethz-asl/kitti_to_rosbag.git
cd .. && catkin_make 

#在编译过程用产生很多错误，因为缺了很多依赖的包：
#只要下载相应的包至catkin_ws/src下，重新编译即可，参考：
#https://www.jianshu.com/p/b6f12b071966

用法：
rosrun kitti_to_rosbag kitti_rosbag_converter calibration_path dataset_path output_path
举个例子：
rosrun kitti_to_rosbag kitti_rosbag_converter ~/data/kitti/2011_09_26 ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync ~/data/kitti/2011_09_26/2011_09_26_drive_0035_sync/testbag.bag

8. 测试结果