16.04new

1、pcl 1.8

https://blog.csdn.net/weixin_41070687/article/details/102841946?utm_medium=distribute.pc_relevant.none-task-blog-title-3&spm=1001.2101.3001.4242

sudo apt-get install libboost-all-dev
时
1)E: 下载 http://mirrors.aliyun.com/ubuntu/pool/universe/b/boost1.58/libboost-wave1.58.0_1.58.0+dfsg-5ubuntu3.1_amd64.deb  Hash 校验和不符 失败
sudo apt-cache search boost
找到libboost-wave1.58.0
sudo apt-get install libboost-wave1.58.0
再：
sudo apt-get install libboost-all-dev
2）qt vtk编译没报错
3）pcl一直有个警告：
model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated
不理会好戏也没事

2、cuda8.0

参考地址：
https://blog.csdn.net/QLULIBIN/article/details/80728355


sudo chmod 777 cuda_8.0.61_375.26_linux.run
sudo ./cuda_8.0.61_375.26_linux.run

sudo chmod 777 cuda_8.0.61.2_linux.run
sudo ./cuda_8.0.61.2_linux.run

sudo gedit ~/.bashrc
末尾加：
export LD_LIBRARY_PATH=/usr/local/cuda-8.0/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}

source ~/.bashrc
```bash



3、opencv2.13.6:
```bash
1）依赖项：
安装编译工具
sudo apt-get install build-essential
安装依赖包
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
安装可选包
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev
2）cmake-gui时警告
CMake Warning at cmake/OpenCVPackaging.cmake:23 (message):
  CPACK_PACKAGE_VERSION does not match version provided by version.hpp
  header!
Call Stack (most recent call first):
  CMakeLists.txt:1105 (include)

#in OpenCVPackaging.cmake file (line 22)
set(OPENCV_VCSVERSION "2.4.13.5") #<就加这一句
set(CPACK_PACKAGE_VERSION "${OPENCV_VCSVERSION}")

3)nvcc warning : The 'compute_20', 'sm_20', and 'sm_21' architectures are deprecated, and may be removed in a future release (Use -Wno-deprecated-gpu-targets to suppress warning).

打开cmake-gui:
再CUDA_NVCC_FLAGS右侧添加：
-Wno-deprecated-gpu-targets

4、pangolin

sudo apt-get install libglew-dev libpython2.7-dev
cmake-gui

5、开始测试orb-slam2了：

编译g2o时还有orb-slam2时报错：
[100%] Linking CXX shared library ../lib/libDBoW2.so
/usr/bin/ld: 找不到 -lopencv_dep_cudart
collect2: error: ld returned 1 exit status
解决：
cmake -D CUDA_USE_STATIC_CUDA_RUNTIME=OFF ..