ubuntu14.04 64位安装 g2o

参考链接：http://blog.csdn.net/jiujiu932/article/details/52248577
http://www.cnblogs.com/gaoxiang12/p/4739934.html

下载g2o: https://github.com/RainerKuemmerle/g2o/
下载依赖项libqglviewer-qt4-dev 链接: https://pan.baidu.com/s/1o8Oz3vW 密码: n7fs

安装依赖项

运行

sudo apt-get install libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-qt4-dev

sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev

这个安装命令是运行在Ubuntu12.0上的，Ubuntu14.04 若提示libqglviewer-qt4-dev，根据上文网盘链接下载libqglviewer-qt4-dev，进入下载目录依次安装三个文件

sudo  dpkg -i libqglviewer-dev-common_2.3.4-4ubuntu2_all.deb
sudo  dpkg -i libqglviewer-qt4-2_2.3.4-4ubuntu2_amd64.deb
sudo  dpkg -i libqglviewer-qt4-dev_2.3.4-4ubuntu2_amd64.deb

安装g2o

将下载得到的g2o-master解压在opt目录下（方便管理我就把所有要安装的程序都解压在opt目录下），进入g2o-master文件夹运行

mkdir build
cd build
cmake ..
make
sduo make install

安装成功后可以在可以在/usr/local/include/g2o中找到它的头文件，而在/usr/local/lib中找到它的库文件。