ubuntu16.04 运行lidar_slam_3d

####仅作为笔记
环境：
ubuntu16.04

1. g2o

#依赖
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install qtdeclarative5-dev
sudo apt-get install qt5-qmake
sudo apt-get install libqglviewer-dev
#安装
git clone https://github.com/RainerKuemmerle/g2o.git
git checkout ff647bd7537860a2b53b3b774ea821a3170feb13
cmake .. && make -j4
sudo make install

2. pcl

#使用的apt安装的pcl库
sudo apt-get install libpcl-dev
#源码安装参考：
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 

sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install cmake cmake-gui 

#源码安装vtk7.1.1
下载vtk源码，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。在文件目录下打开cmd窗口，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
切换到build文件夹
make -j4
sudo make install


git clone https://github.com/PointCloudLibrary/pcl.git
cd pcl 
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None ..
make
sudo make install

3. 安装lidar_slam_3d

cd ${catkin_workspace}/src
git clone https://github.com/ningwang1028/lidar_slam_3d.git
cd ..
catkin_make

4. 测试

#数据集直接找loam系列算法的16线激光雷达数据集
roslaunch lidar_slam_3d lidar_slam_3d.launch  
#roslaunch文件内：
#如果使用rosbag设置use_sim_time为true
#修改发布激光雷达点云的话题

5. 测试结果