背景：项目需要，学习一些imu姿态估计知识。从组长那边借来高翔新作：自动驾驶与机器人中的slam技术，仔细看一看。环境，ubuntu20.04。

一、资料准备

课本对应的代码
一些依赖，首先参考github上对应的readme介绍安装

二、踩到的坑

报错1：

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CHOLMOD_LIBRARYlinked by target "run_gins_pre_integ" in directory /home/ylh/code_ws/slam_in_autonomous_driving/src/ch4

解决方式：

sudo apt install libcholmod3 libsuitesparse-dev

报错2：

/home/ylh/code_ws/slam_in_autonomous_driving/thirdparty/g2o/g2o/core/openmp_mutex.h:30:10: fatal error: g2o/config.h: No such file or directory30 | #include "g2o/config.h"

解决方式：

将thirdparty/g2o/build/g2o/config.h拷贝到thirdparty/g20/目录下

报错3：

fatal error: velodyne_msgs/VelodyneScan.h: No such file or directory18 | #include "velodyne_msgs/VelodyneScan.h"

解决方式：

sudo apt install ros-noetic-velodyne-msgs安装消息依赖

报错4：

make[2]: *** No rule to make target 'gmock', needed by '../bin/test_nn'.  Stop.
make[1]: *** [CMakeFiles/Makefile2:4227: src/ch5/CMakeFiles/test_nn.dir/all] Error 2

解决方式：
修改ch4、ch5对应的cmakelists.txt:
ch4:

# 查找 Google Test，它应该也包含了 Google Mock
find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})# 添加您的库
add_library(${PROJECT_NAME}.ch4gins_pre_integ.ccimu_preintegration.ccg2o_types.cc
)# 添加您的测试可执行文件
add_executable(test_preintegration test_preintegration.cc)# 链接 Google Test (它应该包含了 gmock) 以及其他依赖项
target_link_libraries(test_preintegration${GTEST_LIBRARIES}pthread glog gflags ${PROJECT_NAME}.ch4 ${PROJECT_NAME}.ch3 ${PROJECT_NAME}.common
)# 添加测试
add_test(NAME test_preintegration COMMAND test_preintegration)# 添加其他可执行文件
add_executable(run_gins_pre_integ run_gins_pre_integ.cc)
target_link_libraries(run_gins_pre_integ${PROJECT_NAME}.ch3${PROJECT_NAME}.ch4${G2O_LIBS}
)

ch5:

find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})add_executable(point_cloud_load_and_vis point_cloud_load_and_vis.cc)
target_link_libraries(point_cloud_load_and_vis${PCL_LIBRARIES}${GLOG_LIBRARIES}gflags)add_executable(pcd_to_bird_eye pcd_to_bird_eye.cc)
target_link_libraries(pcd_to_bird_eye${PCL_LIBRARIES}${GLOG_LIBRARIES}${OpenCV_LIBS}gflags)add_executable(scan_to_range_image scan_to_range_image.cc)
target_link_libraries(scan_to_range_image${PCL_LIBRARIES}${GLOG_LIBRARIES}${OpenCV_LIBS}gflags)add_library(${PROJECT_NAME}.ch5bfnn.cckdtree.ccocto_tree.cc)
target_link_libraries(${PROJECT_NAME}.ch5tbb)add_executable(linear_fitting linear_fitting.cc)
target_link_libraries(linear_fitting${PCL_LIBRARIES}${GLOG_LIBRARIES}${OpenCV_LIBS}gflags)ADD_EXECUTABLE(test_nn test_nn.cc)
ADD_TEST(test_nn test_bfnn)target_link_libraries(test_nngtest pthread glog gflags ${PROJECT_NAME}.ch5 ${PROJECT_NAME}.common ${PCL_LIBRARIES} tbb)

参考

三、小结

1、thirdparty目录下，对g2o、livox_ros_driver、Pangolin进行：

mkdir build && cd build
cmake .. && make

其他包没有进行编译操作

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好记性不如烂笔头
积跬步期千里