Ubuntu16.04-Clion-Eigen3-Pangolin-PCL

1.首先安裝Clion：

1）解壓
2）進入bin文件./clion.sh
3）使用Activation code激活

2. 安裝Eigen3

1）查看Eigen的包$ apt-cache search eigen3

2）下載Eigen$ sudo apt-get install libeigen3-dev

3）查看Eigen安裝路進,用apt裝的話就是在/usr/include的。手動編譯纔可能變掉。
$ whereis eigen3
eigen3: /usr/include/eigen3
或者使用：
$ sudo updatedb
$ locate eigen3

4） clion-CMakelists.txt中添加
include_directories(/usr/include/eigen3)

5）輸入代碼測試：

#include <iostream>
#include <Eigen/Dense>
using namespace Eigen;
using namespace std;
int main()
{
    MatrixXd m = MatrixXd::Random(3,3);
    m = (m + MatrixXd::Constant(3,3,1.2)) * 50;
    cout << "m =" << endl << m << endl;
    VectorXd v(3);
    v << 1, 2, 3;
    cout << "m * v =" << endl << m * v << endl;
}

3.安裝Pangolin

1） use pangolin: slambook/3rdpart/Pangolin
or download it from github: https://github.com/stevenlovegrove/Pangolin

2）安裝依賴項
install dependency for pangolin (mainly the OpenGL):
sudo apt-get install libglew-dev

3）compile and install pangolin
cd [path-to-pangolin]
mkdir build
cd build
cmake …
make
sudo make install
安裝成功。

4）clion-CMakelists.txt如下：

cmake_minimum_required(VERSION 3.10)
project(visualizeGeometry)
set(CMAKE_CXX_STANDARD 11)
 添加Eigen頭文件
include_directories( "/usr/include/eigen3" )
#添加Pangolin依賴
find_package( Pangolin )
include_directories( "/usr/local/include/pangolin" )
add_executable(visualizeGeometry main.cpp)
target_link_libraries( visualizeGeometry ${Pangolin_LIBRARIES} )

4.安裝Sophus

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

5.安裝PCL

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl  //加入源
sudo apt-get update  //更新
sudo apt-get install libpcl-dev pcl-tools

運行測試程序時出現以下錯誤：
make[2]: *** No rule to make target ‘/usr/lib/x86_64-linux-gnu/libproj.so’, needed by ‘joinMap’. Stop.

CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/joinMap.dir/all’ failed
make[1]: *** [CMakeFiles/joinMap.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2
*** Failure: Exit code 2 ***

解決方法，執行sudo apt-get install libproj-dev

再次編譯出現以下錯誤：
– Build files have been written to: /home/wd/code/slambook-master/ch5/joinMap/build
[ 50%] Linking CXX executable joinMap
/usr/bin/ld: cannot find -lvtkproj4
collect2: error: ld returned 1 exit status
CMakeFiles/joinMap.dir/build.make:349: recipe for target ‘joinMap’ failed
make[2]: *** [joinMap] Error 1
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/joinMap.dir/all’ failed
make[1]: *** [CMakeFiles/joinMap.dir/all] Error 2
Makefile:83: recipe for target ‘all’ failed
make: *** [all] Error 2
*** Failure: Exit code 2 ***

解決方法：需要在cmakelist中加一條指令修復，即在add_executable語句前面加上list(REMOVE_ITEM PCL_LIBRARIES “vtkproj4”)

參考自：
https://www.cnblogs.com/sincere-diligence/p/9336045.html
https://blog.csdn.net/sgdd123/article/details/80099003
https://blog.csdn.net/danmeng8068/article/details/77341532

6.Ceres

1)首先安裝ceres的依賴庫：
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev
2)從github上下載源碼：https://github.com/ceres-solver/ceres-solver
3)編譯安裝：
cd 安裝包文件路徑
mkdir build
cd build
cmake …
make -j8
sudo make install
4)頭文件：/usr/local/include/ceres/
庫文件：/usr/local/lib/libceres.a

7.g2o

1)安裝依賴庫：
sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev
可選：
libcholmod3.0.6 qtdeclarative5-dev qt5-qmake libcxsparse3.1.4 libsuitesparse-dev
2)從github上下載源碼：https://github.com/RainerKuemmerle/g2o
3)編譯安裝：同上。
4)頭文件：/usr/local/include
庫文件：/usr/local/lib/