安装依赖:
sudo apt-get update
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install qtdeclarative5-dev
sudo apt-get install qt5-qmake
sudo apt-get install libqglviewer-dev-qt5
sudo apt-get install freeglut3-dev
开始编译:
git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake .. -DG2O_BUILD_EXAMPLES=OFF
make -j8
sudo make install