最近打算尝试一下用QPEP代替opencv的PNP进位姿的估计。

安装过程如下

git clone https://github.com/zarathustr/LibQPEP

cd LibQPEP

mkdir build

cd build

cmake .. -DCMAKE_BUILD_TYPE=Release

sudo make install

会报错如下

这是没有安装Intel-MKL导致的，安装的方法如下：

wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB

sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS-2019.PUB

sudo sh -c 'echo deb https://apt.repos.intel.com/mkl all main > /etc/apt/sources.list.d/intel-mkl.list'

sudo apt-get update

sudo apt-get install intel-mkl-64bit-2018.2-046

最后再编译就可以了～

参考资料

https://github.com/zarathustr/VINS-Mono-QPEP

GitHub – eddelbuettel/mkl4deb: Adding the Intel MKL to a Debian / Ubuntu system via one simple script