1 install libboost-all-dev
2 install pcl
https://www.cnblogs.com/lifeofershisui/p/9037829.html
3 install gtsam
https://blog.csdn.net/u013925378/article/details/82258761
4 install ros
https://blog.csdn.net/zhangrelay/article/details/80241758
5 install lego-loam
sudo apt-get install ros-melodic-pcl-*