從0開(kāi)始的高翔SLAM十四講環(huán)境配置（ch2-ch3）-創(chuàng)新互聯(lián)
以下環(huán)境配置均在Ubuntu18.04系統(tǒng)下進(jìn)行，系統(tǒng)已經(jīng)提前安裝好VMware Tools
一、安裝最基礎(chǔ)的C++編譯環(huán)境
（1）CMake（復(fù)制以下代碼回車(chē)，輸入密碼，出現(xiàn)[Y/n]后輸入Y即可自動(dòng)下載相關(guān)配件，以下步驟同理）
sudo apt-get install cmake在高翔提供的ch2代碼中測(cè)試是否安裝上cmake，打開(kāi)文件ch2后端輸入
mkdir build && cd build
cmake ..
make生成的文件保存在build文件夾，然后在終端輸入
./helloSLAM得到結(jié)果
Hello SLAM!（2）g++
sudo apt-get install g++在高翔提供的ch2代碼中可以測(cè)試是否安裝上g++，打開(kāi)文件ch2后終端輸入
g++ helloSLAM.cpp這條編譯命令就把helloSLAM.cpp文本文件編譯為一個(gè)可執(zhí)行程序，接著在終端輸入剛剛產(chǎn)生的./a.out，即可運(yùn)行此文件輸出“Hello SLAM!”
./a.out
Hello SLAM!（3）git
sudo apt-get install git二、安裝Eigen
#安裝
sudo apt-get install libeigen3-dev
#檢查安裝
pkg-config --cflags eigen3
#卸載
sudo apt-get remove libeigen3-dev
#檢查安裝的版本
cat /usr/include/eigen3/Eigen/src/Core/util/Macros.h我這里的版本是3.3.4（推薦最新版本）
#define EIGEN_WORLD_VERSION 3
#define EIGEN_MAJOR_VERSION 3
#define EIGEN_MINOR_VERSION 4在高翔提供的ch3代碼中測(cè)試能否運(yùn)行，依次輸入
mkdir build && cd build
cmake ..
make
./eigenMatrix得到結(jié)果，運(yùn)行成果！
matrix 2x3 from 1 to 6:
1 2 3
4 5 6
print matrix 2x3:
1 2 3
4 5 6
[1,2,3;4,5,6]*[3,2,1]=10 28
[1,2,3;4,5,6]*[4,5,6]: 32 77
random matrix:
0.680375 0.59688 -0.329554
-0.211234 0.823295 0.536459
0.566198 -0.604897 -0.444451
transpose:
0.680375 -0.211234 0.566198
0.59688 0.823295 -0.604897
-0.329554 0.536459 -0.444451
sum: 1.61307
trace: 1.05922
times 10:
6.80375 5.9688 -3.29554
-2.11234 8.23295 5.36459
5.66198 -6.04897 -4.44451
inverse:
-0.198521 2.22739 2.8357
1.00605 -0.555135 -1.41603
-1.62213 3.59308 3.28973
det: 0.208598
Eigen values =
0.0242899
0.992154
1.80558
Eigen vectors =
-0.549013 -0.735943 0.396198
0.253452 -0.598296 -0.760134
-0.796459 0.316906 -0.514998
time of normal inverse is 0.112ms
x = -55.7896 -298.793 130.113 -388.455 -159.312 160.654 -40.0416 -193.561 155.844 181.144 185.125 -62.7786 19.8333 -30.8772 -200.746 55.8385 -206.604 26.3559 -14.6789 122.719 -221.449 26.233 -318.95 -78.6931 50.1446 87.1986 -194.922 132.319 -171.78 -4.19736 11.876 -171.779 48.3047 84.1812 -104.958 -47.2103 -57.4502 -48.9477 -19.4237 28.9419 111.421 92.1237 -288.248 -23.3478 -275.22 -292.062 -92.698 5.96847 -93.6244 109.734
time of Qr decomposition is 0.075ms
x = -55.7896 -298.793 130.113 -388.455 -159.312 160.654 -40.0416 -193.561 155.844 181.144 185.125 -62.7786 19.8333 -30.8772 -200.746 55.8385 -206.604 26.3559 -14.6789 122.719 -221.449 26.233 -318.95 -78.6931 50.1446 87.1986 -194.922 132.319 -171.78 -4.19736 11.876 -171.779 48.3047 84.1812 -104.958 -47.2103 -57.4502 -48.9477 -19.4237 28.9419 111.421 92.1237 -288.248 -23.3478 -275.22 -292.062 -92.698 5.96847 -93.6244 109.734
time of ldlt decomposition is 0.041ms
x = -55.7896 -298.793 130.113 -388.455 -159.312 160.654 -40.0416 -193.561 155.844 181.144 185.125 -62.7786 19.8333 -30.8772 -200.746 55.8385 -206.604 26.3559 -14.6789 122.719 -221.449 26.233 -318.95 -78.6931 50.1446 87.1986 -194.922 132.319 -171.78 -4.19736 11.876 -171.779 48.3047 84.1812 -104.958 -47.2103 -57.4502 -48.9477 -19.4237 28.9419 111.421 92.1237 -288.248 -23.3478 -275.22 -292.062 -92.698 5.96847 -93.6244 109.734三、安裝Pangolin（這里沒(méi)有使用高翔的數(shù)據(jù)安裝，他的數(shù)據(jù)會(huì)出錯(cuò)）
sudo apt-get install libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST= 1 ..
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