r2live重新安装Eigen3.3.9以及Ceres1.14

Posted 2023-02-25 chengwei0019

//    移除旧版本Eigen3
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

//    安装新版本Eigen
//    下载对应版本Eigen，并解压

cd eigen-3.3.9  
mkdir build 
cd build
cmake ..
make 
sudo make install

//    由于默认安装位置为/usr/local文件夹内，但是使用时，有部分库会直接默认在/usr/include里面，这里需要移动Eigen的位置

sudo cp -r /usr/local/include/eigen3/Eigen /usr/local/include/    //    Eigen复制出来
sudo cp -r /usr/local/include/eigen3 /usr/include
sudo cp -r /usr/local/include/Eigen/ /usr/include

//    卸载ceres
    sudo rm -r /usr/local/lib/cmake/Ceres
    sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a

//    安装相关依赖项
sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev 
sudo apt-get install libgoogle-glog-dev libgtest-dev

//    找不到 cxsparse 或者其他的lib，需要添加下面的源
sudo gedit /etc/apt/sources.list
deb http://cz.archive.ubuntu.com/ubuntu trusty main universe #粘贴进去
sudo apt-get update

//    编译安装
//    下载ceres-solver-1.14.0,并解压
cd ceres-solver-1.14.0
mkdir build
cmake -DCMAKE_INSTALL_PREFIX=/home/cc/workspace/3rdparty/ceres-1.14 ..
make -j3
sudo make install

//    之后ceres将会安装到/home/cc/workspace/3rdparty/ceres-1.14文件夹中
sudo chmod -R a+w ./ceres-1.14

之后便能顺利的编译r2live以及fast_lio2了。

卸载pcl

从apt安装的卸载方法
sudo apt remove libpcl
sudo rm /usr/lib/x86_64-linux-gnu/libpcl_* # 删除残留的so文件
sudo rm -r /usr/share/doc/libpcl-* # 删除pcl文档
从源码安装的卸载方法
sudo rm -r /usr/include/pcl-1.10 /usr/share/pcl /usr/bin/pcl* /usr/lib/libpcl* /usr/lib/x86_64-linux-gnu/libpcl_*
sudo rm -r /usr/share/doc/libpcl-* # 删除pcl文档

参考：https://blog.csdn.net/weixin_44444810/article/details/121545719
https://blog.csdn.net/qq_44324181/article/details/122300701?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_baidulandingword~default-0-122300701-blog-121545719.pcrelevantt0_20220926_downloadratepraise_v1&spm=1001.2101.3001.4242.1&utm_relevant_index=3