顺序如下

• 底层环境
• Eigen
• Pangolin
• fmt
• Sophus
• Opencv

1. 编译环境

一定首先要选择好镜像位置、一般教育网选择清华源、也可以由系统自己选择
其次、安装底层环境。

sudo apt-get update 
sudo apt-get upgrade

1. cmake

   sudo apt-get install build-essential cmake

2. git

   sudo apt-get install git 

2. 工作环境

1. Eigen安装

   sudo install libeigen3-dev

   这个是安装在了
   /usr/include/eigen3
   有需要的话自己换位置

2. Pangolin安装

   // 安装Pangolin所需依赖项
   sudo apt-get install libglew-dev
   sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
   // 下载并Pangolin
   cd && git clone https://github.com/stevenlovegrove/Pangolin.git && cd Pangolin && mkdir build && cd build && cmake .. && sudo make install
   // 分拆指令为
   // 到home/user下并下载
   cd && git clone https://github.com/stevenlovegrove/Pangolin.git
   // 进入Pangolin文件夹并创建编译文件夹
   cd Pangolin && mkdir build && cd build
   // cmake
   cmake ..
   // 如果不报错、则可以安装
   sudo make install

3. Sophus安装

   //我这里需要先安装fmt、不知为啥
   cd && git clone https://github.com/fmtlib/fmt.git && cd fmt && mkdir build && cd build && cmake .. && sudo make install
   // 然后安装 Sophus
   cd && git clone https://github.com/strasdat/Sophus.git && cd Sophus && mkdir build && cd build && cmake .. && make && sudo make install

4. Ceres-Solver安装

   # google-glog + gflags
   sudo apt-get install libgoogle-glog-dev libgflags-dev
   # Use ATLAS for BLAS & LAPACK
   sudo apt-get install libatlas-base-dev
   # SuiteSparse and CXSparse (optional)
   sudo apt-get install libsuitesparse-dev
   # 安装
   cd && git clone https://github.com/ceres-solver/ceres-solver.git && cd ceres-solver && mkdir build && cd build && cmake .. && make -j3 && make test && sudo make install
   # 如果报错 'exclusive_scan' is not a member of 'std'
   # 则需要安装g++11 和 gcc11 、可以看以下博文
   https://blog.csdn.net/miracle_world/article/details/124340606

5. g2o安装

   # 安装依赖
   sudo apt-get install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
   # 下载并安装g2o
   cd && git clone https://github.com/RainerKuemmerle/g2o.git && mkdir g2o/build && cd g2o/build && cmake .. && make && sudo make install
   # 如果提示cmake版本较低，可以看以下博文
   https://blog.csdn.net/w5688414/article/details/107019919
   # 即
   sudo apt remove --purge cmake
   hash -r
   sudo snap install cmake --classic

   6.opencv安装

   #    先是背景环境
   sudo apt-get install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev  libx264-dev libatlas-base-dev gfortran libgtk2.0-dev libjpeg-dev libpng-dev
   # 下载并进入相应的安装环境
   cd && git clone https://github.com/opencv/opencv.git && cd opencv && mkdir build && cd build
   # build
   cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
   # make 要使用4核去编译、会很快很快
   sudo make -j4
   # 安装
   sudo make install
   # 环境变量
   sudo gedit /etc/ld.so.conf.d/opencv.conf
   # 添加
   /usr/local/lib
   # 加载配置
   sudo ldconfig
   # 环境变量
   sudo gedit /etc/bash.bashrc
   # 末尾添加
   PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
   export PKG_CONFIG_PATH
   # 加载
   source /etc/bash.bashrc
   sudo upadtedb