1. 常用非线性求解库Ceres
#=========================================================================================== # Ceres Solver install #============================================================================================ # Dependencies: CMake, google-glog, gflags, BLAS & LAPACK, Eigen3, SuiteSparse and CXSparse. sudo apt install cmake sudo apt install libgoogle-glog-dev sudo apt install libatlas-base-dev liblapack sudo apt install libeigen3-dev sudo apt install libsuitesparse-dev
2. 常用C++扩展库Boost
#============================================================================================ # Boost install #============================================================================================ # remove existed boost rm -f /usr/lib/libboost* rm -fr 'find / -name libboost*' # download Boost by wget sudo apt install wget wget https://dl.bintray.com/boostorg/release/1.58.0/source/boost_1_58_0.tar.gz tar -zxvf boost_1_58_0.tar.gz cd boost_1_58_0 # install dependencies sudo apt update sudo apt install build-essential g++ python-dev autotools-dev libicu-dev libbz2-dev libboost-all-dev # build environment and compile ./bootstrap.sh && ./b2 # install sudo ./b2 install
可能会出现下面的提示，构建工程的时候注意一下就是了。
# ////////////////////////////////////////////////////////////////////////////////////////////////////////// # The following dir should be added to compiler include paths: ~/Downloads/mvs_project/boost_1_58_0 # The following dir should be added to linker library paths: ~/Downloads/mvs_project/boost_1_58_0/stage/lib # //////////////////////////////////////////////////////////////////////////////////////////////////////////
3. 常用视觉计算处理库OpenCV
#============================================================================================ # OpenCV Install #============================================================================================ # refresh and upgrade and pre-installed packages/libraries: sudo apt update # install some developer tools sudo apt install build-essential cmake pkg-config # OpenCV needs to be able to load various image file formats from disk such as JPEG, PNG, TIFF, etc. In order to load these images from disk, OpenCV actually calls other image I/O libraries that actually facilitate the loading and decoding process. sudo apt install libjpeg8-dev libtiff5-dev libjasper-dev libpng12-dev # Use the following commands to install packages used to process video streams and access frames from cameras sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev # OpenCV ships out-of-the-box with a very limited set of GUI tools, which allow you to debug your code and build very simple applications. The “highgui” module relies on the GTK library sudo apt install libgtk-3-dev # install libraries that are used to optimize various functionalities inside OpenCV, such as matrix operations: sudo apt install libatlas-base-dev gfortran # installing the Python development headers and libraries for both Python 2.7 and Python 3.5 sudo apt install python2.7-dev python3.5-dev sudo pip install numpy && sudo pip3 install numpy
安装好依赖项之后进行编译安装
# config cmake mkdir build cd build cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_GTK_3_X=ON -DWITH_TBB=OFF -DWITH_V4L=ON .. make -j sudo make install
在cmake步骤，如果需要使用opencv_contrib里面的功能，需要加上下面的命令
# if opencv_contrib is needed then add the following commands when cmake -D OPENCV_EXTRA_MODULES_PATH=opencv_contrib_path/modules \ -D BUILD_EXAMPLES=ON \ -D INSTALL_PYTHON_EXAMPLES=ON \ -D INSTALL_C_EXAMPLES=OFF
如果卡在ippicv下载的地方，可以手动下载配置路径，重新cmake（附下载地址：OpenCV3.4.5对应的是ippicv-2019）
# ippicv_2019_lnx_inte164_general_20180723.tgz # save the tarball as you want, and then change the configuration "opencv-3.4.5/3rdparty/ippicv/ippicv.cmake" # change row 47 from the following "https://raw.githubusercontent.com/opencv/opencv_3rdparty/${IPPICV_COMMIT}ippicv/" # to your saved path "file:~/Downloads/"
安装完成后需要进行如下的配置，以保证正常调用
cd /etc/ld.so.conf.d sudo vim opencv.conf # add in end of the file "/usr/local/lib" and then update sudo ldconfig
4. 李代数库Sophus
# Install Sophus sudo apt install git -y git clone https://github.com/strasdat/Sophus.git cd Sophus git checkout a621ff # Compile and install mkdir build cd build cmake .. make sudo make install
5. 线性和非线性方程组求解库g2o，类似于Ceres
# Install g2o # Dependencies sudo apt install libqt4-dev qt4-cmake libqglviewer.dev libsuitesparse-dev libcxsparse3.1.2 libcholmod-dev -y # Compile and install git clone https://github.com/RainerKuemmerle/g2o cd g2o mkdir build cd build cmake .. make sudo make install
6. 可视化依赖库OpenGL及其拓展glew
# Ubuntu install opengl sudo apt install build-essential libgl1-mesa-dev sudo apt install freeglut3-dev libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev # Ubuntu install glew apt-cache search glew sudo apt install libglew-dbg libglew-dev libglew1.10 libglewmx-dbg libglewmx-dev libglewmx1.10 glew-utils sudo apt install libxmu-dev
如果在C++工程编译链接时出现下面的错误，解决方案如下
#============================================================================================ # Problem # CMake Error: The following variables are used in this project, but they are set to NOTFOUND. # Please set them or make sure they are set and tested correctly in the CMake files: # GLUT_Xmu_LIBRARY (ADVANCED) # linked by target "openglsupport" in directory {$PATH} # -- Configuring incomplete, errors occurred! #============================================================================================ # Solution sudo apt install libxmu-dev
7. 另外如果在ldconfig时出现下面的错误，按如下方法解决
#============================================================================================ # Problem /sbin/ldconfig.real: /usr/local/cuda-9.0/lib64/libcudnn.so.7 is not a symbolic link #============================================================================================ # Solution: Create the new link manually ls -lh /usr/local/cuda-9.0/lib64/libcudnn.so.7 sudo ln -sf /usr/local/cuda-9.0/lib64/libcudnn.so.7.1.4 /usr/local/cuda-9.0/lib64/libcudnn.so.7