[TOC]
网上教程一大堆，随便找
注意： 查看系统BISO的类型
系统分区的挂载
主要是更新内核
查看Ubuntu内核版本
uname -a
https://blog.csdn.net/weixin_40647655/article/details/109228578
内核官网【https://kernel.ubuntu.com/~kernel-ppa/mainline/】
三个generic 一个all.deb
sudo dpkg -i *.deb
更新firmware【https://mirrors.tuna.tsinghua.edu.cn/kernel/firmware/】
采用有线连接网络, install the cmake firstly
sudo apt-get update (更新源)
sudo apt-get upgrade (更新已安装的包)
sudo apt-get install cmake
mkdir build && cd build
cmake ..
make
sudo make install
右键“计算机”，点击“属性”，进入到磁盘管理
中间是之前装ubuntu18.04所用的空间，其实可以不用在这里“删除卷”，可以统一到安装ubuntu的时候在磁盘分区中进行删除
此处注意选择最后一个，不然会删除win系统资料
分配空间，根目录“/”，选择“主分区，起始地址”
挂载，系统所在的磁盘分区
安装成功
报错详情
/usr/bin/ld: CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o: in function `void fmt::v8::print<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >(fmt::v8::basic_format_string<char, fmt::v8::type_identity<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >::type>, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> >&&)':
/usr/local/include/fmt/core.h:3198: undefined reference to `fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
/usr/bin/ld: CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o: in function `void fmt::v8::print<>(fmt::v8::basic_format_string<char>)':
/usr/local/include/fmt/core.h:3198: undefined reference to `fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
解决方案
修改CMakeLists
include_directories("usr/local/include/fmt" )
然后在target_link_libararies添加fmt
target_link_libraries(pose_estimation_3d2d
g2o_core g2o_stuff
${OpenCV_LIBS}
fmt)
【参考】https://blog.csdn.net/Evanzxh/article/details/119757742
需要修改c++编译标准
set(CMAKE_CXX_FLAGS "-std=c++14 -O2 ${SSE_FLAGS} -msse4")
要采用C++11的标准
找不到这个链接库
先看有没有，有的话建立软链接
首先定位libglut.so*
locate libglut.so*
若没有相应的库，则安装
sudo apt-get install libglut-dev
若有建立软连接
cd /usr/lib/x86_64-linux-gnu/
sudo ln -s libglut.so.3 libglut.so
参考【https://www.jianshu.com/p/0695757d8111】
然后fmt又报错，
先把原来的卸载掉
xargs rm < install_manifest.txt
进入安装源文件 fmt/build中,找到CMakeCache.txt
改为CMAKE_CXX_FLAGS:STRING=-fPIC
再重新安装
make
sudo make install
和前面ch8讲报错一样，可能是不支持C++11的编译，还是不兼容？
我直接修改CMakeLists中编译要求修改为
C++14的标准，并把前面判断编译标准的代码注释掉了
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
:KeyFrame*, g2o::Sim3> > >’:
/home/hzhou/Documents/ORB_SLAM2-master/src/LoopClosing.cc:439:21: required from here
/usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator
122 | static_assert(is_same<typename _Alloc::value_type, value_type>::value,
打开LoopClosing.h，将
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
改为
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;
参考【https://blog.csdn.net/lixujie666/article/details/90023059】
这个错误貌似也是因为C++编译器版本的问题
把gcc和g++的版本降低到7以后就没有这个问题了
报错
error: ‘std::chrono::monotonic_clock’ has not been declared
网上说可能是因为不支持monotonic_clock，
解决方法，直接在EXample里面的几个.cc文件中，定义
#define COMPILEDWITHC11
这样就默认采用的是std::chrono::steady_clock
直接在软件中下载
安装插件
C/C++
Cmake
Cmkae Tools
Code Runner 在Setting 中设置RUN IN TERMINAL
Chinese
better comments 自定义颜色在window好设置，在Ubuntu中还没有设置好？
终端输出的字体太乱
setting -> font ->终端 _>Font Family 改为 'monospace'
同步设置：https://www.php.cn/tool/vscode/489147.html
不要使用该命令安装，会默认安装3.2版本的eigen
sudo apt-get install libeigen3-dev //安装到/usr/include/eigen3
在vscode 编辑配置中添加 "/usr/include/**"
先删除
先找到安装的位置
sudo updatedb
locate eigen3
直接删掉这些文件或文件夹
sudo rm -rf /usr/include/eigen3 /usr/lib/cmake/eigen3 /usr/share/doc/libeigen3-dev /usr/share/pkgconfig/eigen3.pc /var/lib/dpkg/info/libeigen3-dev.list /var/lib/dpkg/info/libeigen3-dev.md5sums
在官网下载eigen3.3.7的版本，eigen官网，解压后
mkdir build
cd build
cmake ..
sudo make install
**I change it** sudo make install DESTDIR=/usr/slam_packages/eigen3.3.7
#安装后头文件安装在/usr/local/include/eigen3/
#移动头文件
sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include
【备注】:在很多程序中 include 时经常使用 #include <Eigen/Dense> 而不是使用 #include
<eigen3/Eigen/Dense> 所以要做下处理
sudo ln -s /usr/slam_packages/eigen3.3.7/usr/local/include/eigen3 /usr/local/include/eigen3
rm -rf /usr/local/include/eigen3
后面不能加/
https://blog.csdn.net/weixin_44684139/article/details/104803225
按照这个装
首先安装Pangolin所需依赖
sudo apt install libgl1-mesa-dev
sudo apt install libglew-dev
sudo apt install cmake
sudo apt install libpython2.7-dev
sudo apt install python-pip
sudo python[2or3] -m pip install numpy pyopengl Pillow pybind11
sudo apt install pkg-config
sudo apt install libegl1-mesa-dev libwayland-dev libxkbcommon-dev wayland-protocols
sudo apt install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
sudo apt install libdc1394-22-dev libraw1394-dev
sudo apt install libjpeg-dev libpng-dev libtiff5-dev libopenexr-dev
解压pangolin的压缩包
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
如果遇到 ：error: ISO C++1z does not allow dynamic exception specifications 类似报错
使用：cmake -DBUILD_PANGOLIN_LIBOPENEXR=OFF .. #目的是禁用OpenEXR
sudo make install
测试
cd ~/Pangolin/build/examples/HelloPangolin
./HelloPangolin
https://blog.csdn.net/qq_43647590/article/details/120226747
【测试ch3的代码】
报错：找不到pangolin.h
把头文件链接过去
sudo ln -s /usr/slam_packages/pangolin/usr/local/include/NaturalSort/ /usr/local/include/
sudo ln -s /usr/slam_packages/pangolin/usr/local/include/sigslot/ /usr/local/include/
sudo ln -s /usr/slam_packages/pangolin/usr/local/include/tinyobj/ /usr/local/include/
sudo ln -s /usr/slam_packages/pangolin/usr/local/include/dynalo/ /usr/local/include/
更新库链接
sudo ldconfig
【2021/12/17】安装pangolin0.5的版本无法使用C++11的编译器
编译useSophus.cpp 报错
/usr/local/include/sophus/rotation_matrix.hpp:4:10: fatal error: Eigen/Dense: 没有那个文件或目录
#include <Eigen/Dense>
这是因为 eigen 库安装在了 /usr/include/eigen3/Eigen 路径下或者/usr/local/eigen3/Eigen，需使用下面命令映射到 /usr/include 路径下
sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
//或者 sudo ln -s /usr/local/include/eigen3/Eigen /usr/include/Eigen
按照这个博客装
https://blog.csdn.net/scut_xz/article/details/117326970
【测试ch4代码】
ros里面就包括了opencv了
用这个方法
rosdep init 和 rosdep update可以直接用下载好的文件rosdep
1.sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
2.sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
3.sudo apt update
4.sudo apt install ros-melodic-desktop-full
5.把文件rosdep拷贝到/etc/ros下 在rosdep文件目录下输入 sudo cp -r rosdep /etc/ros
用户环境设置
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
安装包编译依赖
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
6.开一个终端运行roscore(若提示无法找到命令则重新运行sudo apt install ros-melodic-desktop-full)
7.开一个终端运行rosrun turtlesim turtlesim_node 会出现小乌龟
8.开一个终端运行rosrun turtlesim turtle_teleop_key，可以在该终端下通过键盘操控乌龟行走
【用ch5测试opencv】
由于ch8中的直接光流法会需要，opencv3
这里安装的是opencv4.1.0
安装依赖
sudo apt-get install build-essential libgtk2.0-dev libgtk-3-dev libavcodec-dev libavformat-dev libjpeg-dev libswscale-dev libtiff5-dev
sudo apt install python3-dev python3-numpy
sudo apt install libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev
sudo apt install libpng-dev libopenexr-dev libtiff-dev libwebp-dev
安装
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D OPENCV_GENERATE_PKGCONFIG=ON -D CMAKE_INSTALL_PREFIX=/usr/local/opencv4 ..
make -j4
sudo make install
最后在CMakeLists中添加opencv4配置文件的路径
报错
error: ‘CV_GRAY2BGR’ was not declared in this scope cv::cvtColor(img2, img2_show, CV_GRAY2BGR);
将则需要将CV_GRAY2BGR，更新为COLOR_GRAY2BGR
cv::cvtColor(img2, img2_show, COLOR_GRAY2BGR);
https://blog.csdn.net/weixin_44684139/article/details/105007316
安装opencv4 冒得用，直接法还是会报错，还是要opencv3
首先再安装一下依赖项
sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff4-dev libjasper-dev libopenexr-dev libtbb-dev
解压opencv 3.4.1
安装opencv
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local/opencv3 ..
make -j4
sudo make install
在CMakeLists中添加
set(OpenCV_DIR "/usr/local/opencv3/share/OpenCV")
https://www.icode9.com/content-4-906639.html
ORB SLAM2 中安装opencv3.4.5
安装依赖
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev
sudo apt-get install libtiff5.dev libswscale-dev libjasper-dev
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt-get update
20.04的依赖
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
上一句报错，则更新源后重新执行
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt-get update
cd opencv-3.4.5
mkdir build
cd build
cmake ..
make
sudo make install
配置环境变量
sudo vim /etc/ld.so.conf.d/opencv.conf
在打开的空白文件中添加 /usr/local/lib
执行 sudo ldconfig ,使配置的环境变量生效
配置 .bashrc ,末尾添加下面两行
//打开.bashrc
sudo vim /etc/bash.bashrc
//添加以下两行内容到.bashrc
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig
export PKG_CONFIG_PATH
source 与 update
source /etc/bash.bashrc
sudo updatedb
测试是否正常安装 (成功会出现带 “hello opcv” 字样的窗口)
cd opencv-3.4.5/samples/cpp/example_cmake
cmake .
make
./opencv_example
-
安装依赖
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev -
下载包
-
cmake工程编译
mkdir build cd build cmake .. make -
安装
sudo make install
按书上安装
sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
装完后，在build文件夹目录环境下输入：
sudo ldconfig
测试前把g2o里面代码修改一下
typedef g2o::BlockSolver< g2o::BlockSolverTraits<3,1> > Block; // 每个误差项优化变量(eg. abc)度为D，误差值(eg. error)维度为d
Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>(); // 线性方程求解器
Block* solver_ptr = new Block( linearSolver ); // 矩阵块求解器
g2o::OptimizationAlgorithmLevenberg( solver_ptr );
g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( solver_ptr );
g2o::SparseOptimizer optimizer; // 图模型
optimizer.setAlgorithm( solver ); // 设置求解器
optimizer.setVerbose( true ); // 打开调试输出
貌似我直接用3rdparty中的g2o就不用换这个 果然还是的用那个，不然ch10中的g2o_viewer缺失
https://www.cnblogs.com/xueyuanaichiyu/p/7921382.html
【测试ch6代码】
报错详情
/usr/bin/ld: CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o: in function `void fmt::v8::print<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >(fmt::v8::basic_format_string<char, fmt::v8::type_identity<Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> > >::type>, Eigen::Transpose<Eigen::Matrix<double, 4, 1, 0, 4, 1> >&&)':
/usr/local/include/fmt/core.h:3198: undefined reference to `fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
/usr/bin/ld: CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o: in function `void fmt::v8::print<>(fmt::v8::basic_format_string<char>)':
/usr/local/include/fmt/core.h:3198: undefined reference to `fmt::v8::vprint(fmt::v8::basic_string_view<char>, fmt::v8::basic_format_args<fmt::v8::basic_format_context<fmt::v8::appender, char> >)'
解决方案
修改CMakeLists
include_directories("usr/local/include/fmt" )
然后在target_link_libararies添加fmt
target_link_libraries(pose_estimation_3d2d
g2o_core g2o_stuff
${OpenCV_LIBS}
fmt)
【参考】https://blog.csdn.net/Evanzxh/article/details/119757742
需要修改c++编译标准
set(CMAKE_CXX_FLAGS "-std=c++14 -O2 ${SSE_FLAGS} -msse4")
修改以后，又报错
添加fmt的头文件，可能是因为安装的sophus的库时候，是先依赖fmt
感觉是网络的问题，一直下载不了那个库
还是先用老版本
sudo apt-get install meshlab
使用方法
meshlab *.ply
https://blog.csdn.net/qq_15262755/article/details/80352867
sudo apt-get install libpcl-dev pcl-tools
要采用C++11的标准
找不到这个链接库
先看有没有，有的话建立软链接
参考【https://www.jianshu.com/p/0695757d8111】
这个fmt又报错，
先把原来的卸载掉
xargs rm < install_manifest.txt
进入安装源文件 fmt/build中,找到CMakeCache.txt
改为CMAKE_CXX_FLAGS:STRING=-fPIC
再重新安装
make
sudo make install
:KeyFrame*, g2o::Sim3> > >’:
/home/hzhou/Documents/ORB_SLAM2-master/src/LoopClosing.cc:439:21: required from here
/usr/include/c++/9/bits/stl_map.h:122:71: error: static assertion failed: std::map must have the same value_type as its allocator
122 | static_assert(is_same<typename _Alloc::value_type, value_type>::value,
打开LoopClosing.h，将
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3> > > KeyFrameAndPose;
改为
typedef map<KeyFrame*,g2o::Sim3,std::less<KeyFrame*>,
Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3> > > KeyFrameAndPose;
参考【https://blog.csdn.net/lixujie666/article/details/90023059】
chrono时间报错
解决：用chrono::steady
https://pinyin.sogou.com/linux/help.php
首先，安装Fcitx输入框架
sudo apt install fcitx
下载相应的安装包，在包的路径中打开终端
sudo apt --fix-broken install
最后安装
sudo dpkg -i sogoupinyin_2.4.0.3469_amd64.deb
sudo dpkg -i wps-office_11.1.0.10702_amd64.deb
https://blog.csdn.net/qq_35451572/article/details/85856239
sudo dpkg -i linuxqq_2.0.0-b2-1089_amd64.deb
遇到错误
sudo apt-get -f install
https://im.qq.com/linuxqq/download.html
终于配置ssr成功了，原来这么简单！
-
安装依赖
sudo apt install libcanberra-gtk-module libcanberra-gtk3-module gconf2 gconf-service libappindicator1 sudo apt-get install libssl-dev sudo apt-get install libsodium-dev -
安装electron-ssr
-
终端输入，启动ssr
electron-ssrubuntu
if there is no python environment ,you should link the python3 to the python 4. 添加节点信息，把系统的网络代理改为自动,自动不行的话，就需要手动配置，将http 配置为127.0.0.1 12333
-
关键的一步，在订阅服务器里面的快捷建设之中，将切换系统代理模式启动并设置相应快捷键，最好不要设置为ctrl+c
-
按下快捷键以后，绿色小飞机就变成浅蓝色的啦
-
然后谷歌就可以同步书签，插件了，太舒服了
离线安装与卸载(deb文件格式安装）
安装
sudo dpkg -i *.deb
卸载
1. 先查看安装包名字
sudo dpkg -l
2.删除其包和配置文件
sudo dpkg -r 【包名字】
sudo dpkg --purge 【包名字】
在线安装(apt-get方式安装)
是在线安装deb软件包的命令，主要用于在线从互联网的软件仓库中 搜索、安装、升级、卸载 软件
重点是源好用
安装
sudo apt–get install 安装包
卸载
sudo apt-get remove 安装包名
sudo apt-get --purge remove 安装包名
https://blog.csdn.net/u011017694/article/details/105042378
sudo apt-get install flameshot
安装成功后，用如下命令启动
flameshot gui
设置快捷键
https://blog.csdn.net/weixin_43629813/article/details/100525856