視覺SLAM筆記--第1篇: Ubuntu16.04搭建SLAM開發環境

參考博客

[博客鏈接]:
https://blog.csdn.net/qq_38373843/article/details/82792720

1. Eigen線性代數庫

• 安裝

sudo apt-get install libeigen3-dev
sudo updatedb
locate eigen3

• 應用

#在CMakeLists.txt文件中添加Eigen頭文件的目錄
include_directories("/usr/include/eigen3")

2. Opencv開源視覺庫

• 下載
  OpenCV-3.4.0下載地址(國內鏡像)

• 安裝依賴庫

sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev
sudo apt install libtiff5-dev

• 解壓安裝

unzip opencv-3.4.0 
cd opencv-3.4.0
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j2
sudo make install

• 應用

# 在CMakeLists.txt中添加
find_package( OpenCV REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )

3. Sophus李代數庫

• 下載

git clone http://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff

• 編譯安裝

mkdir build
cd build
cmake ..
make -j2
sudo make install

• 應用

# 在CMakeLists.txt中添加
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )

4. Ceres-Solver非線性優化庫

• 安裝依賴項

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev

• 編譯安裝

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j2
sudo make install

• 應用

# 首先將文件夾cmake_modules複製到工程文件夾下,然後在CMakeLists.txt中添加
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
find_package( Ceres REQUIRED )
include_directories( ${CERES_INCLUDE_DIRS} )

• 卸載

sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a

5. g2o圖優化庫

• 安裝依賴庫

sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.4 libcholmod3.0.6

• 編譯安裝

git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make -j2
sudo make install

• 應用

# 首先將文件夾cmake_modules複製到工程文件夾下,然後在CMakeLists.txt中添加
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
find_package( G2O REQUIRED )
include_directories( 
    ${G2O_INCLUDE_DIRS}
    "/usr/include/eigen3"
)

6. PCL點雲庫

• 安裝pcl-1.7

sudo apt-get install libpcl-dev pcl-tools

• 應用

# 在CMakeLists.txt中添加
find_package( PCL REQUIRED COMPONENT common io )
include_directories( ${PCL_INCLUDE_DIRS} )
add_definitions( ${PCL_DEFINITIONS} )

7. Pangolin三維顯示庫

• 安裝依賴項

sudo apt-get install libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev

• 編譯安裝

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST= 1 ..
make -j2
sudo make install

8. 安裝IDE—VScode

• 下載
  VScode官網: 下載64位 .deb格式的文件.

• 安裝並啓動

# 安裝.deb文件
sudo dpkg -i code_1.44.1-1586789296_amd64.deb

# 啓動VScode
code

• 安裝官方插件

# 啓動後可以在VScode裏面安裝插件: 漢化, C/C++, Python等.

後續計劃

後續進行pytorch的學習!!!