1装g++和cmake和kdevelop和eigen

sudo apt-get install g++
sudo apt-get install cmake
sudo apt-get install kdevelop
sudo apt-get install libeigen3

2安装pangolin

解压slambook/3rdparty中的pangolin，进入解压后的文件

makdir build
cd build
cmake ..
出错
apt-cache search glew
sudo apt-get install libglew-dbg等等........
cmake ..
make

解压slambook/3rdparty中的sophus，进入解压后的文件

makdir build
cd build
cmake ..
make

然后进入ch4

cd slambook/ch4/useSophus
mkdir build
cd build
cmake ..
make
./useSophus

先安装依赖项

sudo apt-get install build-essential libgtk2.0-dev libvtk5-dev libjpeg-dev libtiff5-dev libjasper-dev libopenexr-dev libtbb-dev

cd slambook/3rdparty/opencv-3.1.0
mkdir build
cd build
cmake ..(这一步会出错参考下边)
make
sudo make install

安装OpenCv 3.1的过程中要下载ippicv_linux_20151201，由于网络的原因，这个文件经常会下载失败。

解决的办法是手动下载：ippicv_linux_20151201.tgz(放在SLAM资料/工具库)

下载完后替换opencv-3.1.0/3rdparty/ippicv/downloads/linux-*目录下的同名文件，重新cmake。

如果是ubuntu14，则可以使用以下命令

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all

但如果是ubuntu16及以上版本，则使用以下命令

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-dev

注意：如果第三步install的是libpcl-all，会提示无法定位软件包libpcl-all；
update可能会出错，提示：PPA仓库没有Release文件，这个问题可以忽略；
如果install失败，可以再执行一次update，然后install；

然后cd slambook/ch5/joinMap

mkdir build
cd build
cmake ..
make
cd ..
build/joinMap
pcl_viewer map.pcd
然后弹出需要安装pcl-tools
sudo apt install pcl-tools
pcl_viewer map.pcd(成功)

安装ceres依赖项

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev libgtest-dev

然后进slambook/3rdparty/ceres

mkdir build
cd build
cmake ..
make
sudo make install

然后进slambook/ch6/ceres_curve_fitting

mkdir build
cd build
cmake ..
make
./curve_fitting(成功)

安装依赖项

sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.4 libcholmod3.0.6

进slambook/3rdparty/g2o

mkdir build
cd build
cmake ..
make
sudo make install

然后进slambook/ch6/ceres_curve_fitting

mkdir build
cd build
cmake ..
make
./curve_fitting(成功)

结束