SLAM十四讲: g2o_curve_fitting报错解决方法: CAMKE编译及G2O

这一讲介绍了用G2O库，具体的安装操作请参看高翔的SLAM14讲，本文只针对书中未提及的一些bug进行一些总结。

g2o CMAKE编译失败

在使用CMAKE编译时会出现一下报错:

By not providing "FindG2O.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "G2O", but CMake did not find one.

Could not find a package configuration file provided by "G2O" with any of the following names:
	G2OConfig.cmake
	g2o-config.cmake
 Add the installation prefix of "G2O" to CMAKE_PREFIX_PATH or set "G2O_DIR"to a directory containing one of the above files.  If "G2O" provides separate development package or SDK, be sure it has been installed.

原因在于CMakeLists.txt中，虽然定义了CMAKE_MODULE_PATH，但没有对应的文件和文件夹，也就是没有找到FindG2O.cmake文件

解决办法：找到FINDG2O.CMAKE文件的位置，一般在g2o安装包中的"cmake_modules"文件夹中，并把整个文件夹复制到相应工程的下面，与build文件夹在同一目录，然后编译可以正常通过。

g2o 版本升级导致的问题

error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTra