0.引言
默认安装可能不会安装g2o_viewer
.
1.安装
依赖项:
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install libqt4-dev
sudo apt-get install qt4-qmake
sudo apt-get install libqglviewer-qt4-dev
20230723update:
- 安装报错:
sudo apt-get install libqt4-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
Package libqt4-dev is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
E: Package 'libqt4-dev' has no installation candidate
- 解决参考,libqt4-dev 软件包在 19.10 之后从 Ubuntu 中删除,并且确实不在 20.04 存储库中。 QT4 仍然保留在 Ubuntu 的旧版本中。因此低于ubuntu19.04的系统可以使用上面的安装命令,ubuntu20.04及其以后得使用qt5:
sudo apt install qtbase5-dev qt5-qmake
sudo apt-get install libqglviewer-dev-qt5
sudo apt-get install libsuitesparse-dev
其他正常安装就是了:
mkdir build && cd build && cmake .. && make -j4
sudo make install
2.运行
在**.g2o
文件路径下:g2o_viewer **.g2o
报错:
g2o_viewer: error while loading shared libraries: libg2o_viewer.so: cannot open shared object file: No such file or directory
安装的时候可以看见:
-- Installing: /usr/local/lib/libg2o_viewer.so
g2o库文件是安装在/usr/local/lib/
,但是系统环境变量查找的是/usr/local
,所以找不到。
解决:
(1)新建文件:/etc/ld.so.conf
,可以先查看是否已经存在,若有,更改权限即可;
(2)在文件中添加:/usr/local/lib
;
(3)生效配置文件:sudo ldconfig
.
再次运行:
可以看出已经成功加载了g2o文件,但是显示有错误,目前还不知道是我文件的错误还是g2o_viewer的错误。后更。更新:是我的数据有问题。
加入回环检测: