Ubuntu 16.04 lio_sam运行环境配置_cd ~/downloads/gtsam-4.0.2/

搭建成功环境:

ubuntu16.04

pcl1.9.0

gtsam 4.0.2

一 pcl1.9.0安装

电脑原来安装的是1.7的版本,网上的一些人说,1.7版本最后不能呢个成功运行,需要1.8以上的版本,所以先卸载之前的pcl版本,然后重新安装1.9.

(1)卸载不满足条件的pcl版本

sudo apt-get remove libpcl1.7
sudo apt-get remove libpcl-*

(2)PCL依赖库安装

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
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-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 ap