视觉SLAM十四讲学习1 环境配置

一、系统设置

SLAM代码需要在Linux下编译，因此我选择采用虚拟机配置Debian系统进行环境配置（Ubuntu用太久了换换口味~）

通过VM Workbench + Debian10镜像创建系统

二、SLAM常用包配置 1.Debian常用软件包

包括gedit, nano, G++, cmake, git等等常用工具:

sudo apt install gedit nano g++ gcc cmake cmake-gui git gdb

2.OpenCV和opencv_contrib包

opencv与contrib安装较慢，因此先安装这两个部分，首先安装依赖项，

sudo apt install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libpng-dev libjpeg-dev libtiff5-dev libswscale-dev libjasper-dev libdc1394-22-dev libtiff-dev python-dev python-numpy libtbb2 libtbb-dev

这里有一个问题就是libjasper-dev的包被Debian10遗弃了。这个包主要用于JPEG-2000格式的图片处理，因此我没有安装这个包

随后git clone opencv的官方源码（如果网速太慢可以选择gitee上的opencv源）

git clone https://github.com/opencv/opencv.git
git clone https://github.com/opencv/opencv_contrib.git

开始cmake和编译安装

cd opencv
mkdir build
cd build
cmake .. -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D PYTHON_DEFAULT_EXECUTABLE=$(which python3) -D WITH_TBB=ON -D WITH_EIGEN=ON -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib/modules/ -D OPENCV_GENERATE_PKGCONFIG=ON
make -j2
sudo make install

接着需要配置opencv的环境，

# 把opencv库添加到系统路径
sudo nano /etc/ld.so.conf.d/opencv.conf
# 这是一个空白文件，在后面添加
# /usr/local/opencv/lib
sudo ldconfig

# #配置pkg-config
sudo nano /etc/bash.bashrc
# 在末尾添加 
# PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
# export PKG_CONFIG_PATH

# 更新bash配置
source /etc/bash.bashrc
sudo updatedb

最后测试一下配置是否正确，

pkg-config --libs opencv4
# 如果出现 -lopencv_core 等一长串链接库则说明配置正确

3.SLAM代码与第三方包

首先git下十四讲的代码和第三方包，

git clone https://github.com/gaoxiang12/slambook2.git
cd slambook2
git submodule update --init --recursive
cd 3rdparty

Kdevelop安装

sudo apt-get install automake autoconf g++ libtool 
sudo apt-get install kdevelop

Eigen安装

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

Sophus安装

# 当前路径在slambook2/3rdparty
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ..
make -j2
# 这里有个BUG，需要把Sophus/sophus/so2.cpp中的
# unit_complex_.real() = 1. ;
# unit_complex_.imag() = 0. ;
# 改为
# unit_complex_.real(1.) ;
# unit_complex_.imag(0.) ;

Pangolin安装

# 当前路径在slambook2/3rdparty
sudo apt-get install libglew-dev  libboost-dev libboost-thread-dev libboost-filesystem-dev
cd Pangolin
mkdir build && cd build
cmake ..
make -j2
sudo make install

PCL安装

sudo apt-get install libpcl-dev pcl-tools

Ceres-solver安装

# 当前路径在slambook2/3rdparty
sudo apt-get install liblapack-dev libsuitesparse-dev libgflags-dev libgoogle-glog-dev libgtest-dev libcxsparse3
cd ceres-solver
mkdir build
cd build
cmake ..
make -j2
sudo make install

g2o安装

# 当前路径在slambook2/3rdparty
sudo apt-get install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-headers
cd g2o
mkdir build
cd build
cmake ..
make -j2
sudo make install

Meshlab安装

sudo add-apt-repository ppa:zarquon42/meshlab
sudo apt-get update
sudo apt-get install meshlab

Octomap安装

git clone https://github.com/OctoMap/octomap.git
sudo apt-get install doxygen-latex doxygen-doc doxygen-gui graphviz libclang1-6.0
cd octomap
mkdir build
cd build
cmake ..
make -j2
sudo make install

DBoW3安装

cd DBow3
mkdir build
cd build
cmake ..
make -j2
sudo make install