＜＜Slam十四讲＞＞ ch13环境安装

笔者自己惨痛经验，系统安装不下10次来回。所以想把这些完整过程记录下来，供大家学习和参考。所有的安装建议尽量源码安装。

1：首先安装git:

sudo apt install git

2：下载slam源码：

git clone https://github.com/gaoxiang12/slambook2

3：安装IDE工具，clion：（笔者用的，感觉还不错，也可以是其它的）

CLion 官方下载地址是：Download CLion: A Smart Cross-Platform IDE for C and C++Download the latest version of CLion for Windows, macOS or Linux.https://www.jetbrains.com/clion/download/#section=linux解压安装：解压后在bin文件打开终端

./clion.sh

用clion打开工程，打开最外面的cmakelists.txt, 然后按照里面包含的库安装。

4：安装Eigen库：

sudo apt-get install libeigen3-dev

5：安装Opencv,书中用的是3.1.0：

参考：ubuntu18.04安装opencv3.4.5 - 简书

 OpenCV官网下载：Releases - OpenCVhttps://opencv.org/releases/page/6/先安装依赖项：

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

解压后进入opencv的文件里，打开终端，创建Build文件，用于安装:

mkdir build
cd build

然后执行cmake，生成makefile

cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..

提示这样算完成

***************************************************************************
-- 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/devin/Devin/Tools/opencv-3.1.0/build
devin@devin-ThinkPad-X1-Carbon-Gen-9:~/Devin/Tools/opencv-3.1.0/build$ 

编译

make -j8 #用8个线程编译，加快速度，也可以去掉-j8

安装

sudo make install

查看安装结果

pkg-config --cflags --libs opencv

配置(好像不用也行)
安装完后配置

sudo gedit /etc/ld.so.conf.d/opencv.conf

打开文件可能是空白的，没有关系，继续下一步，在文件末尾添加打开文件可能是空白的，没有关系，继续下一步，在文件末尾添加

/usr/local/lib

使配置生效

sudo ldconfig

添加环境变量

sudo gedit /etc/bash.bashrc

在文件最后添加

export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig

使环境变量生效

source /etc/bash.bashrc

6：安装：pangolin

参考：https://blog.csdn.net/qq_49331639/article/details/115024110

源码下载：

git clone https://github.com/stevenlovegrove/Pangolin.git

首先安装Pangolin所需依赖

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

接下来在Pangolin文件夹下开始安装：

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

7：安装Sophus

参考：https://blog.csdn.net/m0_43422224/article/details/122852322?utm_medium=distribute.pc_aggpage_search_result.none-task-blog-2~aggregatepage~first_rank_ecpm_v1~rank_v31_ecpm-1-122852322.pc_agg_new_rank&utm_term=%E5%AE%89%E8%A3%85sophus&spm=1000.2123.3001.4430https://blog.csdn.net/m0_43422224/article/details/122852322?utm_medium=distribute.pc_aggpage_search_result.none-task-blog-2~aggregatepage~first_rank_ecpm_v1~rank_v31_ecpm-1-122852322.pc_agg_new_rank&utm_term=%E5%AE%89%E8%A3%85sophus&spm=1000.2123.3001.4430

先安装fmt:(信赖项)

源码下载：https://fmt.dev/8.1.1/

安装

mkdir build
cd build
cmake ..
make
sudo make install

源码下载：

git clone https://github.com/strasdat/Sophus.git

安装

mkdir build
cd build
cmake ..

make

sudo make install

8：G2o/ceres安装

下载源码:https://github.com/RainerKuemmerle/g2o

安装依赖：

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3

安装

mkdir build
cd build
cmake ..
make -j4
sudo make install

Ceres源码下载：

git clone https://github.com/ceres-solver/ceres-solver.git

依赖项安装

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

安装：

mkdir build
cd build
cmake ..
make
sudo make install

9: glog安装

git clone https://github.com/google/glog
sudo apt-get install autoconf automake libtool
cd glog
./autogen.sh //如果没有可以跳过
./configure //如果没有可以跳过

mkdir build
cd build
cmake ..
make -j 24
sudo make install

10: gflags安装：

参考：https://blog.csdn.net/kenjianqi1647/article/details/106598057

源码下载：

git clone https://github.com/gflags/gflags.git

安装：

mkdir build
cd build
cmake ..
make
sudo make install

11：gtest安装

参考：https://blog.csdn.net/qq_36251561/article/details/85319547

Ubuntu直接通过控制台安装

sudo apt-get install libgtest-dev

编译链接库,进入gtest文件夹

cd /usr/src/gtest

   编译

    #没有安装Cmake的请先安装cmake

sudo mkdir build
cd build
sudo cmake ..
sudo make

将生成的libgtest.a 和 libgtest_main.a 拷贝到系统的lib路径下

sudo cp libgtest.a /usr/local/lib
sudo cp libgtest_main.a /usr/local/lib

到此为止，环境已经搭建完毕，
 

12: 安装CSparse

参考：https://blog.csdn.net/qq_40574708/article/details/105437809

sudo apt-get install libsuitesparse-dev

13：安装Pthread

参考：https://blog.csdn.net/n_fly/article/details/88601197

sudo apt-get install glibc-doc

sudo apt-get install manpages-posix manpages-posix-dev

14: 错误修改：

出现了/usr/bin/ld:找不到-lglut…recipe for target ‘…/lib/libmyslam.so’ failed的错误

[6/8] Linking CXX shared library ../lib/libmyslam.so
FAILED: ../lib/libmyslam.so
: && /usr/bin/c++ -fPIC -O3 -DNDEBUG   -shared -Wl,-soname,libmyslam.so -o ../lib/libmyslam.so src/CMakeFiles/myslam.dir/frame.cpp.o src/CMakeFiles/myslam.dir/mappoint.cpp.o src/CMakeFiles/myslam.dir/map.cpp.o src/CMakeFiles/myslam.dir/camera.cpp.o src/CMakeFiles/myslam.dir/config.cpp.o src/CMakeFiles/myslam.dir/feature.cpp.o src/CMakeFiles/myslam.dir/frontend.cpp.o src/CMakeFiles/myslam.dir/backend.cpp.o src/CMakeFiles/myslam.dir/viewer.cpp.o src/CMakeFiles/myslam.dir/visual_odometry.cpp.o src/CMakeFiles/myslam.dir/dataset.cpp.o  -Wl,-rpath,/usr/local/lib  /usr/local/lib/libopencv_videostab.so.3.1.0  /usr/local/lib/libopencv_superres.so.3.1.0  /usr/local/lib/libopencv_stitching.so.3.1.0  /usr/local/lib/libopencv_shape.so.3.1.0  /usr/local/lib/libopencv_photo.so.3.1.0  /usr/local/lib/libopencv_objdetect.so.3.1.0  /usr/local/lib/libopencv_calib3d.so.3.1.0  /usr/local/lib/libpango_glgeometry.so  /usr/local/lib/libpango_plot.so  /usr/local/lib/libpango_python.so  /usr/local/lib/libpango_scene.so  /usr/local/lib/libpango_tools.so  /usr/local/lib/libpango_video.so  -lGL  -lGLU  -lGLEW  -lglut  -lg2o_core  -lg2o_stuff  -lg2o_types_sba  -lg2o_solver_csparse  -lg2o_csparse_extension  /usr/local/lib/libgtest.a  /usr/local/lib/libgtest_main.a  /usr/local/lib/libglog.so  /usr/local/lib/libgflags.a  -lpthread  -lcxsparse  -lfmt  /usr/local/lib/libopencv_features2d.so.3.1.0  /usr/local/lib/libopencv_ml.so.3.1.0  /usr/local/lib/libopencv_highgui.so.3.1.0  /usr/local/lib/libopencv_videoio.so.3.1.0  /usr/local/lib/libopencv_imgcodecs.so.3.1.0  /usr/local/lib/libopencv_flann.so.3.1.0  /usr/local/lib/libopencv_video.so.3.1.0  /usr/local/lib/libopencv_imgproc.so.3.1.0  /usr/local/lib/libopencv_core.so.3.1.0  /usr/local/lib/libpango_geometry.so  /usr/local/lib/libtinyobj.so  /usr/local/lib/libpango_display.so  /usr/local/lib/libpango_vars.so  /usr/local/lib/libpango_windowing.so  /usr/local/lib/libpango_opengl.so  -lGLEW  -lOpenGL  -lGLX  -lGLU  /usr/local/lib/libpango_image.so  /usr/local/lib/libpango_packetstream.so  /usr/local/lib/libpango_core.so  -lrt  -lpthread && :
/usr/bin/ld: 找不到 -lglut
collect2: error: ld returned 1 exit status
ninja: build stopped: subcommand failed.

或者是编译之后不报错 ，但是lib下没有libmyslam.so文件，这是因为缺少包，执行如下命令，安装freeglut即可

sudo apt-get install freeglut3-dev