一赖临、Eigen庫
sudo apt-get install libeigen3-dev
可用如下語句確認安裝成功：
sudo updatedb
locate eigen3
PS：它是一個純用頭文件搭建的庫统求，使用時只需引入Eigen蛉拙，不需鏈接庫文件见芹。
之后為使用該庫蕉鸳，在需要使用該庫的工程CMakeLists.txt文件中加入如下語句：
include_directories("/usr/include/eigen3")
二隐孽、Kdevelop安裝
ppa安裝方法：
sudo apt-get update
sudo apt-get install kdevelop
三、Sophus庫的安裝
按書中教程
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff(這一步報錯)
采用
git clone https://github.com/strasdat/Sophus.git
cd Sophus
mkdir build
cd build
cmake ..
make
之后為使用該庫属桦，在CMakeLists.txt中加入如下語句：
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS}) #添加頭文件目錄
add_executable( useSophus useSophus.cpp) #添加可執(zhí)行文件
target_link_libraries( useSophus ${Sophus_LIBRARIES} ) #添加庫文件目錄
四、Opencv 3.4.0 在Ubuntu16.04.4上的安裝
去opencv官網(wǎng)下載/opencv-unix/3.4.0/opencv-3.4.0.zip
https://sourceforge.net/projects/opencvlibrary/
去github上下載安裝需要的另一個包opencv_contrib-3.4.0
https://github.com/opencv/opencv_contrib/tree/3.4.0
安裝過程參考：https://blog.csdn.net/leaves_joe/article/details/67656340
安裝依賴項：
sudo apt-get install python-dev python-opencv python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
sudo apt-get install libopencv-dev build-essential cmake git libgtk2.0-dev pkg-config python-dev python-numpy libdc1394-22 libdc1394-22-dev libjpeg-dev libpng12-dev libtiff5-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libxine2-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev libv4l-dev libtbb-dev libqt4-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils unzip
sudo apt-get install build-essential cmake git
sudo apt-get install ffmpeg libopencv-dev libgtk-3-dev python-numpy python3-numpy libdc1394-22 libdc1394-22-dev libjpeg-dev libpng12-dev libtiff5-dev libjasper-dev libavcodec-dev libavformat-dev libswscale-dev libxine2-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libv4l-dev libtbb-dev qtbase5-dev libfaac-dev libmp3lame-dev libopencore-amrnb-dev libopencore-amrwb-dev libtheora-dev libvorbis-dev libxvidcore-dev x264 v4l-utils unzip
解壓下載的包
進入解壓后的包的目錄：
cd opencv-3.4.0/
mkdir build
cd build
配置：
cmake -D CMAKE_BUILD_TYPE=RELEASE \ -D CMAKE_INSTALL_PREFIX=/usr/local \ -D INSTALL_PYTHON_EXAMPLES=ON \ -D INSTALL_C_EXAMPLES=ON \ -D OPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-3.4.0/modules \ -D PYTHON_EXECUTABLE=/usr/bin/python3 \ -D BUILD_EXAMPLES=ON ..
完成后：
make -jx（x是線程數(shù)他爸，可以輸2聂宾，3，4等等）
然后是漫長的等待-----
sudo make install
安裝完成
python驗證安裝：
sudo apt install python3-pip
pip3 install numpy
打開一個新的終端诊笤，輸入
python3
import cv2 as cv
print(cv.version)
輸出 '3.4.0' 系谐，說明python環(huán)境正常
五、PCL安裝
使用國內(nèi)源按教材命令容易報錯讨跟，解決見：
http://www.cnblogs.com/fudong071234/p/6359725.html
教材給出指令：
——————————————————————————————
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all
——————————————————————————————
其中最后一條指令可能報錯纪他，執(zhí)行下列指令：
sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl1.7
編譯安裝見：
http://www.linuxdiyf.com/linux/24123.html
六、Ceres安裝
//依賴安裝
sudo?apt-get?install?liblapack-dev libsuitesparse-dev?libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev
如果報錯檢查一下是不是復制以后格式出現(xiàn)問題晾匠，書上給的是libcxsparse3.1.2茶袒，我的電腦輸入1.2會報錯.
然后執(zhí)行：
git clone?https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make
sudo make install
