安装ceres和g2o、DBow3、pcl

安装ceres

#下载地址
git clone https://github.com/ceres-solver/ceres-solver.git
#依赖项
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
#进入ceres目录下，使用cmake编译
mkdir build
cd build
cmake ..
make -j4
sudo make install

安装g2o

#下载地址
git clone https://github.com/RainerKuemmerle/g2o.git
#依赖项
sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
#进入g2o目录下，使用cmake编译
cd g2o   //进入g2o文件夹
mkdir build     //创建build文件夹
cd build    //进入 build
cmake ..   //cmake编译  这个过程比较漫长
make
sudo make install   //安装即可
sudo ldconfig //更新一下刚安装好的库文件

安装DBow3

#下载地址
git clone https://github.com/rmsalinas/DBow3.git
#进入DBow3目录下，使用cmake编译
cd DBOW3   //进入g2o文件夹
mkdir build     //创建build文件夹
cd build    //进入 build
cmake ..   //cmake编译  这个过程比较漫长
make
sudo make install   //安装即可
sudo ldconfig //更新一下刚安装好的库文件

安装pcl

#安装相关依赖
sudo apt-get update  
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common 
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev #这个需要自己下载正确版本安装
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1-qt libvtk7.1 libvtk7-qt-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre  
sudo apt-cache search libvtk
#下载pcl
git clone https://github.com/PointCloudLibrary/pcl.git 
cd pcl/
mkdir build
cd build/
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr            -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON            -DCMAKE_INSTALL_PREFIX=/usr ..
 make -j7
sudo make install