For the method and steps of making ubuntu16.04 to install U disk, please refer to my previous blog:
https://blog.csdn.net/neptune4751/article/details/79146885
System installation can refer to:
https://www.cnblogs.com/masbay/p/10745170.html
Add the partition type and size that the blogger did not mention:
1./boot: Primary partition, 200M in size, format: ext4
2./: Primary partition size 80G format: ext4
3.swap swap space logical partition size 2 times the memory size, I set 16G
4. The remaining size of the /home logical partition is allocated to it. The format is ext4 and the total size is 120G
In addition, the blogger uses Thinkstation. The first installation always automatically enters win10, and cannot enter ubuntu. You need to use F12 to enter the bios interface. After the installation is successful, you can choose to enter win10 or ubuntu on the main interface. At the time of success, the boot loader device installed was not selected in the /boot number as shown in the figure below, and installed according to the default options.
Next, install the various libraries needed for visual SLAM operation, including ROS, Eigen, Sophus, OpenCV3+contrib, PCL point cloud library, Pangolin, Octomap
1. ROS installation can refer to my previous blog:
https://blog.csdn.net/neptune4751/article/details/103150788
Among them, it is worth noting that an error was reported when executing the "sudo rosdep init" statement: "cannot download default sources list from:"
I feel that github has some speed limits recently and downloading resources is very slow. The solution can be referred to: https://blog.csdn.net/nanianwochengshui/article/details/105702188
2. Eigen installation:
The blogger's installation version is Eigen 3.3.7. One thing to be reminded is that you need to install ceres later. Since the Eigen version will be compiled when compiling ceres, the installation sequence needs to install Eigen 3.3.7 first, and then install ceres 1.14.0.
If you use " sudo apt-get install libeigen3-dev: the 3.2 version of eigen is installed , which cannot match the version of sophus and Ceres to be installed later
The correct method:
(1) Download the installation package on the official website ( http://eigen.tuxfamily.org/index.php?title=Main_Page ): eigen-3.3.7.tar.bz2, and then extract it here
(2) Enter Folder eigen-3.3.7, right click to open it in the terminal.
(3) Install
1.mkdir build
2.cd build
3.cmake ..
4.sodu make installBecause I get an error when I run VINS-MONO later:
Finally adjust the installation order: install Eigen3.3.7 first, then install ceres, the problem is solved.
Refer to the specific Eigen installation steps:
https://blog.csdn.net/Night___Raid/article/details/105113617#3.%20OpenCV3%C2%A0k
3. Ceres installation, you can refer to:
http://ceres-solver.org/installation.html
https://blog.csdn.net/Night___Raid/article/details/105113617#3.%20OpenCV3%C2%A0k
4. OpenCV3+contrib installation
There will be an error when compiling: opencv_contrib is missing boostdesc_bgm.i and other files
Error message: ~/opencv_contrib/modules/xfeatures2d/src/boostdesc.cpp:673:20: fatal error: boostdesc_bgm.i: No suchfileor directory
At this time, if you check the CMakeDownloadLog.txt in the build folder, you will find that boostdesc_bgm.i is missing, and download it to its designated address.
boostdesc_bgm.i
boostdesc_bgm_bi.i
boostdesc_bgm_hd.i
boostdesc_lbgm.i
boostdesc_binboost_064.i
boostdesc_binboost_128.i
boostdesc_binboost_256.i
vgg_generated_120.i
vgg_generated_64.i
vgg_generated_80.i
vgg_generated_48.i
Baidu cloud link: https://pan.baidu.com/s/1BeYF8kqEZLAJYQj-MvxpmA
Extraction code: e1wc
Put it in the opencv_contrib-3.3.1/modules/xfeatures2d/src/ path and recompile;
5. The installation of PCL point cloud library, Pangolin, Octomap, can refer to the link below:
https://blog.csdn.net/Night___Raid/article/details/105113617#3.%20OpenCV3%C2%A0k