編譯安裝g2o:

1、下載代碼包：

https://github.com/RainerKuemmerle/g2o

2、安裝依賴項(xiàng)

znkz@znkz:~$ sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.2 libcholmod-dev E: 無法定位軟件包 libcholmod-dev

最后一項(xiàng)需要Tab鍵補(bǔ)全：

znkz@znkz:~$ sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.2 libcholmod2.1.2

3、編譯：

CMake Warning at cmake_modules/FindQGLViewer.cmake:1 (find_package):By not providing "FindQt5.cmake" in CMAKE_MODULE_PATH this project hasasked CMake to find a package configuration file provided by "Qt5", butCMake did not find one.Could not find a package configuration file provided by "Qt5" with any ofthe following names:Qt5Config.cmakeqt5-config.cmakeAdd the installation prefix of "Qt5" to CMAKE_PREFIX_PATH or set "Qt5_DIR"to a directory containing one of the above files. If "Qt5" provides aseparate development package or SDK, be sure it has been installed. Call Stack (most recent call first):CMakeLists.txt:174 (find_package)Qt5 not found. Install it and set Qt5_DIR accordingly -- Found QGLVIEWER: /usr/include/QGLViewer -- Compiling g2o apps -- Compiling g2o examples -- Compiling with GCC -- Found Eigen3: /usr/include/eigen3 (Required is at least version "2.91.0") -- Configuring done -- Generating done -- Build files have been written to: /home/znkz/下載/g2o-master/build

https://blog.csdn.net/lch_vison/article/details/80899039

一般情況下，ubuntu16.04可能默認(rèn)qt4，但隨著qt5更新，部分程序要求qt5的支持，卸載qt4再安裝qt5會比較麻煩，所以可能需要同時(shí)安裝qt4和qt5，兩個(gè)版本的任意切換顯得很有必要。

????????首先，查看系統(tǒng)默認(rèn)打qt版本，命令行輸入

znkz@znkz:~/下載/g2o-master/build$ qmake -v QMake version 2.01a Using Qt version 4.8.6 in /usr/lib/x86_64-linux-gnu

將依賴項(xiàng)中qt4-qmake換成qt5-qmake

znkz@znkz:/usr/lib/x86_64-linux-gnu/qt-default/qtchooser$ sudo apt-get install libqt4-dev qt5-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.2 libcholmod2.1.2

再檢查版本：

znkz@znkz:/usr/lib/x86_64-linux-gnu/qt-default/qtchooser$ qmake -v QMake version 2.01a Using Qt version 4.8.6 in /usr/lib/x86_64-linux-gnu

需要在文件路徑?? /usr/lib/x86_64-linux-gnu/qt-default/qtchooser的default.conf文件中修改默認(rèn)版本

原來：

/usr/lib/x86_64-linux-gnu/qt4/bin /usr/lib/x86_64-linux-gnu

修改為：

/usr/lib/x86_64-linux-gnu/qt5/bin /usr/lib/x86_64-linux-gnu

再查看版本：

znkz@znkz:/usr/lib/x86_64-linux-gnu/qt-default/qtchooser$ qmake -v QMake version 3.0 Using Qt version 5.2.1 in /usr/lib/x86_64-linux-gnu

但cmake仍找不到qt5:

-- Compiling on Unix -- Found CHOLMOD and its dependencies -- Compiling with OpenGL support CMake Warning at cmake_modules/FindQGLViewer.cmake:1 (find_package):By not providing "FindQt5.cmake" in CMAKE_MODULE_PATH this project hasasked CMake to find a package configuration file provided by "Qt5", butCMake did not find one.Could not find a package configuration file provided by "Qt5" with any ofthe following names:Qt5Config.cmakeqt5-config.cmakeAdd the installation prefix of "Qt5" to CMAKE_PREFIX_PATH or set "Qt5_DIR"to a directory containing one of the above files. If "Qt5" provides aseparate development package or SDK, be sure it has been installed. Call Stack (most recent call first):CMakeLists.txt:174 (find_package)Qt5 not found. Install it and set Qt5_DIR accordingly -- Compiling g2o apps -- Compiling g2o examples -- Compiling with GCC -- Configuring done -- Generating done -- Build files have been written to: /home/znkz/下載/g2o-master/build

找不到qt5-config.cmake文件

嘗試two：官網(wǎng)下載：

qt-opensource-linux-x64-5.8.0.run?安裝于/home/znkz/qt5.8文件夾中

修改default.conf:

/home/znkz/qt5.8/5.8/gcc_64/bin /home/znkz/qt5.8

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znkz@znkz:~/下載$ qmake -v QMake version 3.1 Using Qt version 5.8.0 in /home/znkz/qt5.8/5.8/gcc_64/lib

并且在~/.bashrc中添加路徑：

PATH=${PATH}:/home/znkz/qt5.8/5.8/gcc_64/bin:/home/znkz/qt5.8/Tools/QtCreator/bin

再次編譯g2o:

znkz@znkz:~/下載/g2o-master/build$ cmake .. -- Compiling on Unix -- Found CHOLMOD and its dependencies -- Compiling with OpenGL support -- Compiling g2o apps -- Compiling g2o examples -- Compiling with GCC CMake Error at g2o/apps/g2o_viewer/CMakeLists.txt:7 (string):string does not recognize sub-command APPEND-- Generating position indpendent code for slam2d because Qt5 was built with -reduce-relocations -- Configuring incomplete, errors occurred! See also "/home/znkz/下載/g2o-master/build/CMakeFiles/CMakeOutput.log".

如果編譯的時(shí)候出現(xiàn)類似上面的問題，是由于cmake版本偏低的原因，所以安裝cmake的時(shí)候最好安裝官方推薦版本或者安裝g2o歷史版本

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程序編譯問題：

/home/znkz/slam/ch6/g2o_curve_fitting/main.cpp:82:52: error: cannot allocate an object of abstract type ‘CurveFittingVertex’CurveFittingVertex* v = new CurveFittingVertex();

原因：來自基類的基函數(shù)在派生類中沒有繼承并實(shí)現(xiàn)；檢查派生類中函數(shù)，發(fā)現(xiàn)函數(shù)名書寫錯(cuò)誤；

/home/znkz/slam/ch6/g2o_curve_fitting/main.cpp:17:5: error: ‘static void* CurveFittingVertex::operator new(std::size_t)’ is private

因?yàn)榕缮愔兄该鳛閜ublic，c++中class默認(rèn)為privete

//main.cpp #include <iostream> #include <g2o/core/base_vertex.h> #include <g2o/core/base_unary_edge.h> #include <g2o/core/block_solver.h> #include <g2o/core/optimization_algorithm_levenberg.h> #include <g2o/core/optimization_algorithm_gauss_newton.h> #include <g2o/core/optimization_algorithm_dogleg.h> #include <g2o/solvers/dense/linear_solver_dense.h> #include <eigen3/Eigen/Core> #include <opencv2/core/core.hpp> #include <cmath> #include <chrono> using namespace std;class CurveFittingVertex: public g2o::BaseVertex<3, Eigen::Vector3d> { public:EIGEN_MAKE_ALIGNED_OPERATOR_NEWvirtual void setToOriginImpl(){_estimate << 0,0,0;}virtual void oplusImpl ( const double* update){_estimate += Eigen::Vector3d(update);}virtual bool read( istream& in ) {}virtual bool write (ostream& out) const {} };class CurveFittingEdge: public g2o::BaseUnaryEdge<1, double, CurveFittingVertex> { public:EIGEN_MAKE_ALIGNED_OPERATOR_NEWCurveFittingEdge ( double x ): BaseUnaryEdge(), _x() {}void computeError(){const CurveFittingVertex* v = static_cast<const CurveFittingVertex*> (_vertices[0]);const Eigen::Vector3d abc = v->estimate();_error(0, 0) = _measurement - std::exp( abc(0,0)*_x*_x + abc(1,0)*_x +abc(2,0) );}virtual bool read( istream& in ) {}virtual bool write (ostream& out) const {}double _x; };int main(int argc, char** argv) {double a = 1.0, b = 2.0, c = 1.0;int N = 100;double w_sigma = 1.0;cv::RNG rng;double abc[3] = {0, 0, 0};vector<double> x_data, y_data;cout << "generating data: " << endl;for (int i = 0; i < N; i++){double x = i/100.0;x_data.push_back(x);y_data.push_back(exp(a * x * x + b * x + c) + rng.gaussian( w_sigma));cout << x_data[i] << " " <<y_data[i] << endl;}typedef g2o::BlockSolver< g2o::BlockSolverTraits<3,1>> Block;Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>();Block* solver_ptr = new Block ( linearSolver);g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( solver_ptr );g2o::SparseOptimizer optimizer;optimizer.setAlgorithm( solver );optimizer.setVerbose(true);CurveFittingVertex* v = new CurveFittingVertex();v->setEstimate ( Eigen::Vector3d(0, 0, 0));v->setId(0);optimizer.addVertex(v);// 往圖中增加邊f(xié)or ( int i=0; i<N; i++ ){CurveFittingEdge* edge = new CurveFittingEdge( x_data[i] );edge->setId(i);edge->setVertex( 0, v ); // 設(shè)置連接的頂點(diǎn)edge->setMeasurement( y_data[i] ); // 觀測數(shù)值edge->setInformation( Eigen::Matrix<double,1,1>::Identity()*1/(w_sigma*w_sigma) ); // 信息矩陣：協(xié)方差矩陣之逆optimizer.addEdge( edge );}// 執(zhí)行優(yōu)化cout<<"start optimization"<<endl;chrono::steady_clock::time_point t1 = chrono::steady_clock::now();optimizer.initializeOptimization();optimizer.optimize(100);chrono::steady_clock::time_point t2 = chrono::steady_clock::now();chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>( t2-t1 );cout<<"solve time cost = "<<time_used.count()<<" seconds. "<<endl;// 輸出優(yōu)化值Eigen::Vector3d abc_estimate = v->estimate();cout<<"estimated model: "<<abc_estimate.transpose()<<endl;return 0; } project(g2o_curve_fitting)cmake_minimum_required(VERSION 3.2) set ( CMAKE_CXX_FLAGS "-std=c++11") #opencv find_package(OpenCV REQUIRED) include_directories( ${Opencv_INCLUDE_DIRS} )#EIGEN include_directories(" /usr/include/eigen3/")#g2o include_directories(${G2O_INCLUDE_DIRS})add_executable( g2o_curve_fitting main.cpp) target_link_libraries(g2o_curve_fitting ${OpenCV_LIBS} g2o_core g2o_stuff ) install(TARGETS g2o_curve_fitting RUNTIME DESTINATION bin) generating data: 0 2.71828 0.01 2.93161 0.02 2.12942 0.03 2.46037 0.04 4.18814 0.05 2.73368 0.06 2.42751 0.07 3.44729 0.08 3.72543 0.09 2.1358 0.1 4.12333 0.11 3.38199 0.12 4.81164 0.13 1.62582 0.14 1.76862 0.15 3.21555 0.16 3.0922 0.17 5.82752 0.18 4.29855 0.19 2.74081 0.2 5.75724 0.21 3.53729 0.22 1.95514 0.23 2.99195 0.24 3.28739 0.25 4.70749 0.26 6.24365 0.27 5.81645 0.28 4.88402 0.29 4.75991 0.3 7.25246 0.31 5.92933 0.32 7.00306 0.33 5.22286 0.34 5.16179 0.35 7.26191 0.36 6.40545 0.37 6.25549 0.38 6.56094 0.39 6.53523 0.4 8.14891 0.41 7.77616 0.42 7.40141 0.43 8.75638 0.44 7.20606 0.45 7.57795 0.46 8.21564 0.47 9.84032 0.48 6.96725 0.49 9.90619 0.5 9.27125 0.51 9.87567 0.52 10.3412 0.53 9.55315 0.54 11.3635 0.55 10.8815 0.56 13.0648 0.57 11.4756 0.58 11.337 0.59 13.2393 0.6 13.5299 0.61 14.0441 0.62 13.31 0.63 13.672 0.64 14.8504 0.65 14.2599 0.66 14.7724 0.67 17.4339 0.68 17.4632 0.69 17.7598 0.7 16.8223 0.71 19.9468 0.72 20.5446 0.73 21.3767 0.74 20.1435 0.75 20.3088 0.76 23.2543 0.77 23.4349 0.78 22.8706 0.79 24.094 0.8 25.4183 0.81 25.5237 0.82 27.9738 0.83 28.5861 0.84 29.5703 0.85 29.6744 0.86 32.667 0.87 34.2698 0.88 33.5124 0.89 36.1479 0.9 39.2485 0.91 40.988 0.92 41.5716 0.93 41.3686 0.94 44.285 0.95 42.8312 0.96 47.7941 0.97 48.5931 0.98 51.8487 0.99 51.0258 start optimization iteration= 0 chi2= 34160.645534 time= 0.0057172 cumTime= 0.0057172 edges= 100 schur= 0 lambda= 699.050482 levenbergIter= 7 iteration= 1 chi2= 19064.548305 time= 0.00396034 cumTime= 0.00967754 edges= 100 schur= 0 lambda= 233.016827 levenbergIter= 1 iteration= 2 chi2= 17463.228578 time= 0.00313083 cumTime= 0.0128084 edges= 100 schur= 0 lambda= 77.672276 levenbergIter= 1 iteration= 3 chi2= 17445.410049 time= 0.00220924 cumTime= 0.0150176 edges= 100 schur= 0 lambda= 25.890759 levenbergIter= 1 iteration= 4 chi2= 17445.404907 time= 0.00242345 cumTime= 0.0174411 edges= 100 schur= 0 lambda= 17.260506 levenbergIter= 1 iteration= 5 chi2= 17445.404907 time= 0.00201721 cumTime= 0.0194583 edges= 100 schur= 0 lambda= 11.507004 levenbergIter= 1 iteration= 6 chi2= 17445.404907 time= 0.00294174 cumTime= 0.0224 edges= 100 schur= 0 lambda= 3088887817.306430 levenbergIter= 7 solve time cost = 0.0239291 seconds. estimated model: 0 0 2.69483 *** 正常退出 ***

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