echo "安裝eigen3"
sudo apt-get --yes --force-yes install libeigen3-dev

cd ~/ThirtyLib
echo "安裝Sopus"
git clone https://github.com/strasdat/Sophus.git
cd ~/ThirtyLib/Sophus                #進入Sophus資料夾
git checkout a621ff      #檢查a621ff版 
mkdir build                 #新建build資料夾
cd build                    #進入build資料夾
cmake ..                    #build上一層目錄下執行CMake命令
make                        #編譯
sudo make install
cd ~

echo "安裝PCL點雲庫依賴"
sudo apt-get update  
sudo apt-get --yes --force-yes install git build-essential linux-libc-dev  
sudo apt-get --yes --force-yes install cmake cmake-gui   
sudo apt-get --yes --force-yes install libusb-1.0-0-dev libusb-dev libudev-dev  
sudo apt-get --yes --force-yes install mpi-default-dev openmpi-bin openmpi-common    
sudo apt-get --yes --force-yes install libflann1.8 libflann-dev  
sudo apt-get --yes --force-yes install libeigen3-dev  
sudo apt-get --yes --force-yes install libboost-all-dev  
sudo apt-get --yes --force-yes install libvtk5.10-qt4 libvtk5.10 libvtk5-dev  
sudo apt-get --yes --force-yes install libqhull* libgtest-dev  
sudo apt-get --yes --force-yes install freeglut3-dev pkg-config  
sudo apt-get --yes --force-yes install libxmu-dev libxi-dev   
sudo apt-get --yes --force-yes install mono-complete  
sudo apt-get --yes --force-yes install qt-sdk openjdk-8-jdk openjdk-8-jre
echo "安裝PCL點雲庫"
cd ~/ThirtyLib
git clone https://github.com/PointCloudLibrary/pcl.git
cd pcl
mkdir build  
cd build  
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON  -DCMAKE_INSTALL_PREFIX=/usr ..  
make
sudo make install