安装

获取源码

你可以使用最新 代码 .

git clone https://github.com/quanduyong/LTSLAM.git

依赖

X-SLAM工程依赖一系列c++开源库。

  • Eigen 3.3.7 or later strongly recommended, 3.3.7 or later required.

  • CMake 2.8.0 or later. Required on all platforms except for Android.

  • glog 0.5 or later. Recommended

  • gflags. Needed to build examples and tests.

  • googletest. Needed to build examples and tests.

  • SuiteSparse. Needed for solving large sparse linear systems. Optional; strongly recomended for large scale bundle adjustment

  • CXSparse. Similar to SuiteSparse but simpler and slower. CXSparse has no dependencies on LAPACK and BLAS. This makes for a simpler build process and a smaller binary. Optional

  • opencv-4.5.2. You will be build examples and tests or not.

  • opencv_contrib-4.5.2. You will be build examples and tests or not.

  • g2o. You will bebuild examples and tests or not.

  • ceres solver. You will be build examples and tests or not.

  • pangolin. You will be build examples and tests or not.

  • sophus. You will be build examples and tests or not.

ROS1

ubuntu18.04安装ROS Melodic最详细配置

设置软件源：

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

设置最新的密钥：

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654

安装：

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*

初始化rosdep:

sudo rosdep init
rosdep update

安装rosinstall：

sudo apt-get install python-rosinstall

加载环境设置文件：

source /opt/ros/melodic/setup.bash

设置环境变量：

# Set ROS Network
#ifconfig查看你的电脑ip地址
export ROS_HOSTNAME=192.168.89.135
export ROS_MASTER_URI=http://${ROS_HOSTNAME}:11311

ROS2(Galactic)

Set locale

locale  # check for UTF-8

sudo apt update && sudo apt install locales
sudo locale-gen en_US en_US.UTF-8
sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8

locale  # verify settings

Setup Sources

You will need to add the ROS 2 apt repositories to your system. To do so, first authorize our GPG key with apt like this:

sudo apt update && sudo apt install curl gnupg2 lsb-release
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Install ROS 2 packages

sudo apt update
sudo apt install ros-galactic-desktop

Linux

We will use Ubuntu18.04 as our example linux distribution.

Start by installing all the dependencies.

CMake tools and some libraries

# CMake
sudo apt-get install cmake
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev
# BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# suitesparse
sudo apt-get install libsuitesparse-dev

glog

git clone https://github.com/google/glog
mkdir build
cd build
make -j6
sudo make install

gflags

git clone https://github.com/gflags/gflags
mkdir build
cd build
make -j6
sudo make install

googletest

git clone https://github.com/google/googletest.git
mkdir build
cd build
make -j6
sudo make install

ceres solver

git clone https://github.com/ceres-solver/ceres-solver.git
mkdir build
cd build
make -j6
sudo make install

pangolin

git clone https://github.com/stevenlovegrove/Pangolin.git
mkdir build
cd build
make -j6
sudo make install

g2o

git clone https://github.com/RainerKuemmerle/g2o.git
mkdir build
cd build
make -j6
sudo make install

sophus

git clone https://github.com/strasdat/Sophus.git
mkdir build
cd build
make -j6
sudo make install

Build

We are now ready to build, test, and begin run the demos.

mkdir build
cd build
cmake ..
make -j6

Docker安装

如果电脑已有老版docker,则需先卸载已存在的旧版本:

docker version
sudo apt-get remove docker docker-engine docker-ce docker.io containerd runc

安装以下包以使apt可以通过HTTPS使用存储库(repository)

sudo apt-get -y install apt-transport-https ca-certificates curl software-properties-common

添加GPG密匙及存储库地址,官方或者国内镜像（更快）任选其一

Docker官方GPG密钥及stable存储库：

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"

阿里镜像站Docker的GPG密钥及stable存储库：

curl -fsSL http://mirrors.aliyun.com/docker-ce/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] http://mirrors.aliyun.com/docker-ce/linux/ubuntu $(lsb_release -cs) stable"

更新apt包索引并安装最新版本的Docker CE(社区版):

sudo apt-get -y update
sudo apt-get -y install docker-ce

验证docker,查看版本及运行状态

sudo systemctl status docker

若未启动,则启动docker服务

sudo systemctl start docker

默认已有docker用户组,如果没有则需要添加

sudo groupadd docker

将当前用户加入 docker 组内并重新登录：

sudo usermod -aG docker $USER
newgrp docker

验证用户组生效

docker run hello-world

阿里镜像源

deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

清华镜像源

deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse

中科大镜像源

deb https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
deb https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ bionic-proposed main restricted universe multiverse