依赖 Eigen eigen.tuxfamily.org
1 2 3 4 5 6 wget https://gitlab.com/libeigen/eigen/-/archive/3.3.4/eigen-3.3.4.zip unzip eigen-3.3.4.zip && cd eigen-3.3.4 mkdir build && cd buildcmake .. sudo make install sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
Pangolin Pangolin-Github
1 2 3 4 5 6 7 8 9 10 git clone https://github.com/stevenlovegrove/Pangolin cd Pangolin/scripts/rm -rf vcpkg/git clone https://github.com/microsoft/vcpkg cd .../scripts/install_prerequisites.sh --dry-run recommended mkdir build && cd buildcmake .. cmake --build . sudo make install
错误1:Could NOT find OpenGL
1 sudo apt install libgl1-mesa-dev
错误2:Could not find GLEW
1 sudo apt install libglew-dev
OpenCV opencv.org
安装依赖 1 2 3 sudo apt install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg-dev libswscale-dev libtiff5-dev sudo apt install libgtk2.0-dev sudo apt install pkg-config
安装OpenCV 1 2 3 4 5 6 7 8 sudo apt update && sudo apt install g++ unzip wget cmake wget -O opencv.zip https://github.com/opencv/opencv/archive/refs/tags/4.4.0.zip unzip opencv.zip cd opencv-4.4.0/mkdir build && cd buildcmake .. cmake --build . sudo make install
Boost 1 sudo apt install libboost-all-dev
安装PCL
依赖 将以下内容保存为install_pcl_dependences.sh ,使用在ubuntu 命令行终端输入sudo sh install_pcl_dependences.sh 即可进行安装,在下载安装依赖库过程中会提示是否安装,都输入y。(好像没什么用)
1 2 3 4 5 6 7 8 9 10 11 12 13 14 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 libvtk5.10-qt4 libvtk5.10 libvtk5-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 qt-sdk openjdk-8-jdk openjdk-8-jre
下载源码
1 2 3 4 wget -O pcl.tar.gz https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.12.0.tar.gz tar -zxvf pcl.tar.gz
安装
1 2 3 4 5 6 cd pcl-pcl-1.12.0mkdir releasecd releasecmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr .. make sudo make install
这个是用apt安装,但是好像版本不对
1 sudo apt install libpcl-dev
安装SLAM 1 2 3 4 git clone -b dense_map https://github.com/electech6/ORB_SLAM3_detailed_comments cd ORB_SLAM3_detailed_commentschmod +x build.sh./build.sh
报错1:
1 2 3 fatal error: openssl/md5.h: c ^~~~~~~~~~~~~~~
1 sudo apt install libssl-dev
未完待续……