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Expand Up @@ -37,6 +37,37 @@ Required by g2o (see below). Download and install instructions can be found at:
```
sudo apt-get install libblas-dev liblapack-dev liblapacke-dev
```
#### RapidJSON
[RapidJSON](http://rapidjson.org) needs to be installed from for instance this [github repository](https://github.com/Tencent/rapidjson):
```
git clone https://github.com/Tencent/rapidjson
cd rapidjson
mkdir build
cmake ..
make && sudo make install
```
#### Ceres-solver
[Ceres-solver](http://ceres-solver.org) needs to be installed from for instance this [github repository](https://ceres-solver.googlesource.com/ceres-solver):
```
git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build
cd build
cmake ..
make && sudo make install
```
**Warning : ** cmake version 3.5 is needed to compile ceres-solver.

#### glog
[glog](https://github.com/google/glog) needs to be installed from for instance this [github repository] ( ):
```
git clone https://github.com/google/glog.git
cd glog
mkdir build
cd build
cmake -DGFLAGS_NAMESPACE=google -DCMAKE_CXX_FLAGS=-fPIC ..
make && sudo make install
```

#### DBoW2 and g2o (Included in Thirdparty folder)
We use modified versions of the [DBoW2](https://github.com/dorian3d/DBoW2) library to perform place recognition and [g2o](https://github.com/RainerKuemmerle/g2o) library to perform non-linear optimizations. Both modified libraries (which are BSD) are included in the *Thirdparty* folder.
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