Ubuntu 16.04 LTS 面向SLAM任务的基本安装配置

本文主要是为了记录针对SLAM相关的project，在Ubuntu环境下的进行的包和环境配置。

Packages

1. Sougou Pinyin Input - Chinese

First, install "GDebi" with

sudo apt-get install gdebi

Then search and download the Sougou package for Ubuntu/Debian. Next, enter the correspoding folder and use

sudo gdebi sogoupinyin_2.2.0.0102_amd64.deb

to install Sougou Pinyin Input. At last, change the keyboard settings to add the sougou pinyin.
Remeber to restart or suspend to make it work.

2. C/C++ IDE

• Clion
• Kdevelop

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Dependencies

Generally, after your installing dependencies/packages, the header files ('.hpp') are usually under the folder /usr/local/include/dependency_name/, and the library files are usually under the folder /usr/local/lib/. Therefore, when you finish installation steps, you could check whether the corresponding files are under the correct path. Or you could search some test code online to test if it could call packages and run correctly.

However, if you compile or run the specific code with errors on those packages, you should check the version of those necessary packages, and the pre-set path. If it still does not work, you could turn to your best friend -- Google to find the corresponding dependencies or alternatives to fix issues.

1. ROS

Refer to kinetic ROS

2. Pangolin

Refer to Pangolin

3. OpenCV

Refer to OpenCV and
Install OpenCV3 on Ubuntu

4. Eigen3

The first way is referring to Eigen, and download the Eigen2/3 package，then compile on the laptop。

Another way is using the following commands to install, but you should remeber to change the default path.

sudo apt-get install libeigen3-dev 
cd /usr/include/eigen3
sudo cp Eigen -r /usr/include

5. Sophus

Sophus supports Lie Algebra, which is the C++ implementation of Lie Groups using Eigen. Here we would install the (non-template version) Sophus maintained by Strasdat.

Via the following command line instructions to install Sophus:

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

mkdir build
cd build
cmake ..
make

6. PCL (Point Cloud Library)

Refer to official guide in PCL, or use the following commands:

sudo apt-get install libpcl-dev

//install visualization tools and open a '.pcd' file
sudo apt install pcl-tools
pcl_viewer XXX.pcd

7. g2o

g2o is a very important package on graph (non-linear) optimization in SLAM applications. It requires Cmake and Eigen3.

First, on Ubuntu / Debian some other dependencies are resolved by installing the following packages:

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

Next, you should download g2o from github, unzip the file, enter the g2o folder with the following commands to compile this Cmake project:

mkdir build
cd  build
cmake ..
make 
sudo make install

Moreover, you may also refer to [1-3] to find more useful information about how to install and test g2o.

8. Ceres

Ceresis another very important package on non-linear optimization in SLAM applications besides g2o.

First, on Ubuntu / Debian some other dependencies are resolved by installing the following packages:

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

Next, you should download g2o from github, unzip the file, enter the g2o folder with the following commands to compile this Cmake project:

mkdir build
cd  build
cmake ..
make 
sudo make install

9. DBoW2

Refer to DBoW2

However, it's normal that many popular SLAM repositories provide "DBoW2" in their 3rdparty folder.

Supported Open Source SLAM Systems after the above Configurations

1. ORB-SLAM2
2. 视觉SLAM十四讲练习/practice code of the "14 lectures on visual SLAM"，English Version，中文版

References:

1. 第六讲 图优化工具g2o的入门
2. 在Ubuntu KyLin 16.04上安装g2o
3. g2o的安装及初步使用