配置ubuntu步骤

1.安装中文输入法

https://www.cnblogs.com/excellentlhw/p/10925749.html

2.安装IDE(clion)

https://www.cnblogs.com/excellentlhw/p/10925817.html

3.安装第三方库：

eigen:

在终端输入：sudo apt-get install libeigen3-dev

sophus:

git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff

OpenCV:

(1).安装依赖库

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

(2).下载源码

https://opencv.org/releases/

(3).编译源码

cmake ..

make -j4

sudo make install 

PCL:

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

G2O:

(1)依赖库：

sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.2
libcholmod-dev

(2)git clone https://github.com/RainerKuemmerle/g2o

(3)mkdir build

　cd build

    cmake ..

    make

    sudo make install