Baidu open source ice-ba installation and operation summary

ICE-BA It is the open source visual inertia system of Baidu Dr. liuhaomin , It mainly puts forward a new BA optimization algorithm .
Code address ：https://github.com/baidu/ICE-BA
Installation tutorial ：
1. Installation platform is Ubuntu14.04 perhaps Ubuntu16.04, This question uses Ubuntu14.04, Please install the system first
2.boost and eigen install
Just run the following command , It's simpler

sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install libeigen3-de

3.Gflag and Glog install
（1） download gflags

git clone https://github.com/gflags/gflags

（2） Compilation and installation

mkdir build
cd build
cmake ..
make -j5
sudo make install

(3) download Glog

git clone https://github.com/google/glog

(4) Compilation and installation

./autogen.sh
./configure
make -j5
sudo make install

install gflag The following problems arise in the process of ：

undefined reference to 'FlagRegisterer::FlagRegisterer' 

The solution is ：

    （1） download gflags
    （2）cmake .. -DBUILD_SHARED_LIBS=ON -DBUILD_STATIC_LIBS=ON -DBUILD_gflags_LIB=ON
    （3） Compilation and installation gflags：make and make install 
    （4） download glog
    （5）export LDFLAGS='-L/usr/local/lib' # since my gflags lib is installed under /usr/local/lib
    （6） Compilation and installation gflog

4. install OpenCV
Recommended OpenCV 3.0.0, I'm using 3.1.0 Version of . There are many things on the Internet during the installation process , Refer to Dr. Gao Xiang 《 Vision SLAM Fourteen speak 》 Just install it in
5. install Yaml
install Yaml There were a lot of holes , This will cause errors in the following program compilation
（1） The download address is as follows , Unzip into the directory

https://github.com/jbeder/yaml-cpp/releases

（2） Compilation and installation

mkdir build
cd build
cmake -DBUILD_SHARED_LIBS=ON ..
( Will generate .so library ,.a If you use OFF)

Choose here -DBUILD_SHARED_LIBS=ON,（ Generate .so） instead of -DBUILD_SHARED_LIBS=OFF, Because it will be compiled later ICE-BA What we need is .so Link library , If it's here , I chose OFF, The following errors will appear in the subsequent compilation ：

/usr/bin/ld: /usr/local/lib/libyaml.a(xxx.o): relocation R_X86_64_32 against `.bss' can not be used when making a shared object; recompile with -fPIC

6. install brisk
（1） The download address is as follows , Unzip into the directory

https://github.com/gwli/brisk

（2） Compilation and installation

cd brisk
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8

7. Final build install ICE-BA

cd ice-ba
chmod +x build.sh
./build.sh

The final executable program is bin/iec-ba, Directly run... Under the directory run_ice_ba.sh that will do , Of course, the corresponding data set location and information should be changed .