ubuntu20.04安装cartographer

Cartographer是一款用于构建SLAM（Simultaneous Localization and Mapping）的开源软件包。以下是在Ubuntu 20.04上安装Cartographer的步骤：

1. 安装依赖项：

sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.3-dev \
    libprotobuf-dev \
    libsuitesparse-dev \
    lsb-release \
    ninja-build \
    protobuf-compiler \
    python3-sphinx

2. 安装ceres solver：

sudo apt-get install -y libatlas-base-dev libsuitesparse-dev
git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
git checkout $(git describe --tags) # Checkout the latest release
mkdir build
cd build
cmake .. -G Ninja -DCMAKE_BUILD_TYPE=Release
ninja
sudo ninja install

3. 克隆Cartographer源代码：

git clone https://github.com/cartographer-project/cartographer.git
cd cartographer

4. 编译：

mkdir build
cd build
cmake .. -G Ninja
ninja

5. 安装：

sudo ninja install

现在，Cartographer已经安装完成。你可以通过运行以下命令来验证安装是否成功：

cartographer_assets_writer --help

命令应该会显示Cartographer的帮助信息。