PLSLAM在win10+VS2015上的编译和运行

说在前面，最近真的很幸苦啊，晚饭都顾不上吃，就是为了调试程序能够运行。在师弟的帮助下，经过几天的努力，终于能够将PLSLAM在我的电脑上跑起来，没天都劝诫自己要坚持坚持再坚持，当然，有时候并不是不想坚持，主要是怕浪费时间，但是这种事情，不可能找别人来给你做，所以就只能自己硬着头皮去完成。言归正传。

1)Cmakelist.txt的修改

主要更改的地方是跟G2O有关系的，还有个EIgen的路径好像，不会给代码部分改颜色，对比着自己的cmakelist.txt看看吧，其他的也不用怎么改，比如 .so 这个东西，不用管它，只要通过cmake软件能够generate一个解决方案sln，之后再在VS里面改就好了

project( PL-SLAM )

cmake_minimum_required(VERSION 2.7)

list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}}/3rdparty/g2o/cmake_modules")
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}}/3rdparty/g2o/cmake_modules/FindG2O.cmake")

find_package(OpenCV 3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS regex thread system filesystem)
# find_package(G2O      REQUIRED)
find_package(Eigen3   REQUIRED)

if(COMMAND cmake_policy)
  	cmake_policy(SET CMP0003 NEW)	
endif(COMMAND cmake_policy)
link_directories(${OpenCV_LIBS_DIR})
include_directories(${OpenCV2_INCLUDE_DIRS})

# Odometry library (Future TODO: integrate with this library)
SET( StVO_LIBRARY 		"" CACHE FILEPATH "Visual Odometry Library" )
SET( StVO_INCLUDE_DIR 	"" CACHE PATH "Visual Odometry Include folder" )	

set(DEFAULT_HAS_MRPT ON)
set(HAS_MRPT ${DEFAULT_HAS_MRPT} CACHE BOOL "Build the PointGrey Bumblebee2 SVO application that employs the MRPT library")

SET(BUILD_SHARED_LIBS ON)
SET(CMAKE_MODULE_PATH $ENV{CMAKE_MODULE_PATH})
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -mtune=native -march=native")

add_definitions(-DBOOST_NO_CXX11_SCOPED_ENUMS)

# MRPT library (optional, only with representation purposes)
if(HAS_MRPT)
FI