从0开始的高翔SLAM十四讲环境配置（ch2-ch3）-创新互联
以下环境配置均在Ubuntu18.04系统下进行，系统已经提前安装好VMware Tools
一、安装最基础的C++编译环境
（1）CMake（复制以下代码回车，输入密码，出现[Y/n]后输入Y即可自动下载相关配件，以下步骤同理）
sudo apt-get install cmake在高翔提供的ch2代码中测试是否安装上cmake，打开文件ch2后端输入
mkdir build && cd build
cmake ..
make生成的文件保存在build文件夹，然后在终端输入
./helloSLAM得到结果
Hello SLAM!（2）g++
sudo apt-get install g++在高翔提供的ch2代码中可以测试是否安装上g++，打开文件ch2后终端输入
g++ helloSLAM.cpp这条编译命令就把helloSLAM.cpp文本文件编译为一个可执行程序，接着在终端输入刚刚产生的./a.out，即可运行此文件输出“Hello SLAM!”
./a.out
Hello SLAM!（3）git
sudo apt-get install git二、安装Eigen
#安装
sudo apt-get install libeigen3-dev
#检查安装
pkg-config --cflags eigen3
#卸载
sudo apt-get remove libeigen3-dev
#检查安装的版本
cat /usr/include/eigen3/Eigen/src/Core/util/Macros.h我这里的版本是3.3.4（推荐最新版本）
#define EIGEN_WORLD_VERSION 3
#define EIGEN_MAJOR_VERSION 3
#define EIGEN_MINOR_VERSION 4在高翔提供的ch3代码中测试能否运行，依次输入
mkdir build && cd build
cmake ..
make
./eigenMatrix得到结果，运行成果！
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、安装Pangolin（这里没有使用高翔的数据安装，他的数据会出错）
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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