视觉SLAM笔记--第1篇: Ubuntu16.04搭建SLAM开发环境

参考博客

[博客链接]:
https://blog.youkuaiyun.com/qq_38373843/article/details/82792720

1. Eigen线性代数库

• apt安装

sudo apt-get install libeigen3-dev
sudo updatedb
locate eigen3

• 源码安装
  直接官网下载安装包，安装
  Eigen3安装包下载网址：Eigen3.3.6安装包

# 解压
unzip eigen3.3.6

# 移动eigen3.3.6到/usr/local/include并改名
sudo mv eigen3.3.6 /usr/local/include/eigen3

# 复制eigen3中的头文件到include下
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include 

# 将/usr/local/include/eigen3/cmake/FindEigen3.cmake文件复制到/usr/share/cmake-3.5/Modules/对应目录下
sudo cp /usr/local/include/eigen3/cmake/FindEigen3.cmake /usr/share/cmake-3.5/Modules

• 应用

#在CMakeLists.txt文件中添加Eigen头文件的目录
include_directories("/usr/include/eigen3")

2. Opencv开源视觉库

• 下载
  OpenCV-3.4.0下载地址(国内镜像)

• 安装依赖库

sudo apt-get