ubuntu16.04 运行ProSLAM

####仅作为笔记
环境：
Ubuntu 14.04 LTS (gcc 5) + ROS Indigo / OpenCV2 + Qt4 + g2o (see Note for old version)
Ubuntu 16.04 LTS (gcc 5) + ROS Kinetic / OpenCV3 + Qt5 + g2o (current)
Ubuntu 18.04 LTS (gcc 7) + OpenCV3 + Qt5 + g2o (current)

1. 依赖

sudo apt-get install build-essential libeigen3-dev libsuitesparse-dev freeglut3-dev libqglviewer-dev libyaml-cpp-dev
sudo apt-get install python-catkin-tools

2. OpenCV3.2.0

#依赖
sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev # 处理图像所需的包
sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev liblapacke-dev
sudo apt-get install libxvidcore-dev libx264-dev # 处理视频所需的包
sudo apt-get install libatlas-base-dev gfortran # 优化opencv功能
sudo apt-get install ffmpeg
#安装
https://github.com/opencv/opencv/archive/3.2.0.zip  #下载opencv，自行解压
cd opencv-3.2.0
mkdir build && cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ../
make -j4 && sudo make install

3. Qt5

sudo apt-get install qt5-default

4. g2o_catkin

sudo apt-get install ninja-build
mkdir -p ~/catkin_ws/src
catkin_init_workspace
cd .. && catkin_make 
sudo gedit ~/.bashrc 加入 source ~/catkin_ws/devel/setup.bash
source ~/.bashrc
cd ~/catkin_ws/src
git clone https://github.com/yorsh87/g2o_catkin.git
catkin build g2o_catkin

5. proslam

cd ~/catkin_ws/src
git clone https://gitlab.com/srrg-software/srrg_proslam.git
cd srrg_proslam
./pull_srrg_packages.bash
cd ~/catkin_ws
catkin build srrg_proslam

注意在srrg_proslam的CMakeLists文件内修改以下内容为自己的路径：
-D OpenCV_DIR=/your/path/to/the/opencv/build/folder
-D G2O_ROOT=/your/path/to/the/g2o/root/folder

6. 测试

#数据集下载
https://drive.google.com/open?id=0ByaBRAPfmgEqdXhJRmktQ2lsMEE
tar -xzvf 00.tar.gz
#第一个终端
roscore
#另一终端
rosrun srrg_proslam app 00.txt -use-gui
#或者，具体参数参照https://gitlab.com/srrg-software/srrg_proslam：
rosrun srrg_proslam app 00.txt -c configuration_kitti.yaml
rosrun srrg_core srrg_kitti_evaluate_odometry_app -odom trajectory_kitti.txt -gt 00_gt.txt -seq 00.txt

7. 测试结果