在官网的基础上稍加修改,但保证代码都是最新的
1. 安装依赖库
sudo apt-get install -y \ g++ \ git \ google-mock \ libboost-all-dev \ libcairo2-dev \ libeigen3-dev \ libgflags-dev \ libgoogle-glog-dev \ liblua5.2-dev \ libsuitesparse-dev \ ninja-build \ python-sphinx
2. 安装ceres-solver
google提供的地址下载太慢,在github上git clone 也是太慢, 索性直接Donload zip
https://github.com/ceres-solver/ceres-solver.git
然后编译安装:
cd ceres-solver mkdir build cd build cmake .. make -j4 sudo make install
3. 安装proto3
安装依赖
sudo apt-get install autoconf automake libtool curl make g++ unzip
下载zip(git clone 太慢了)
地址: https://github.com/protocolbuffers/protobuf
编译安装:
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./autogen.sh ./configure make -j4 make check sudo make install sudo ldconfig # refresh shared library cache.
make check 会提示又一些错误,没关系啦,核心库已经编译好啦
4. 安装cartographer
clone cartographer代码,这个速度还可以
git clone https://github.com/googlecartographer/cartographer.git
编译安装
cd cartographer mkdir build cd build cmake .. make -j4 sudo make install
编译过程中,报了protobuf的错误,安装出问题了