高翔--一起做RGB-D SLAM (6)--ubuntu16-g2o安装及问题解决--g2o_viewer设置

第一步:清除已安装的g2o

sudo rm -r /usr/local/include/g2o
sudo rm -r /usr/local/lib/libg2o*
sudo rm -r /usr/local/bin/g2o*

第二步:下载备用的g2o源代码

g2o ( 高翔github上 ): https://github.com/gaoxiang12/rgbd-slam-tutorial-gx
g2o ( g2o github上 ): https://github.com/RainerKuemmerle/g2o

第三步:安装依赖项

sudo apt-get install libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev

第四步:在g2o ( 高翔github上 )的基础上进行安装–先设置g2o_viewer

修改：在cmake_modules/FindQGLViewer 中添加下面的加粗代码。
find_library(QGLVIEWER_LIBRARY_RELEASE
NAMES qglviewer-qt4 QGLViewer-qt4 qglviewer QGLViewer QGLViewer2
PATHS /usr/lib
/usr/local/lib
/usr/lib/x86_64-linux-gnu # Ubuntu 16.04 and derivatives
/opt/local/lib
/sw/lib

find_library(QGLVIEWER_LIBRARY_DEBUG
NAMES dqglviewer dQGLViewer dQGLViewer2 QGLViewerd2
PATHS /usr/lib
/usr/local/lib
/usr/lib/x86_64-linux-gnu # Ubuntu 16.04 and derivatives
/opt/local/lib
/sw/lib

第五步:编译

cd g2o
mkdir build
cd build 
cmake ..
make

第六步:解决编译过程中出现的问题

错误１－－－执行在３１％时报错：
[ 31%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp: In member function ‘virtual void g2o::EdgeSE2PointXYBearing::initialEstimate(const VertexSet&, g2o::OptimizableGraph::Vertex*)’:
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:50:52: error: no matching function for call to ‘g2o::SE2::setRotation(Eigen::Rotation2D::Scalar)’
t.setRotation(t.rotation().angle()+measurement);
^
In file included from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/types/slam2d/vertex_se2.h:33:0,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.h:31,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:27:
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/types/slam2d/se2.h:56:12: note: candidate: void g2o::SE2::setRotation(const Rotation2Dd&)
void setRotation(const Rotation2Dd& R) {R=R;}
^
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/types/slam2d/se2.h:56:12: note: no known conversion for argument 1 from ‘Eigen::Rotation2D::Scalar {aka double}’ to ‘const Rotation2Dd& {aka const Eigen::Rotation2D&}’
g2o/types/slam2d/CMakeFiles/types_slam2d.dir/build.make:206: recipe for target ‘g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o’ failed
make[2]: *** [g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o] Error 1
CMakeFiles/Makefile2:802: recipe for target ‘g2o/types/slam2d/CMakeFiles/types_slam2d.dir/all’ failed
make[1]: *** [g2o/types/slam2d/CMakeFiles/types_slam2d.dir/all] Error 2
Makefile:127: recipe for target ‘all’ failed
make: *** [all] Error 2

错误１－－－－解决方法：

打开文件：./g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp文件

将代码：

t.setRotation(t.rotation().angle()+_measurement);
改成：
t.setRotation((Eigen::Rotation2Dd)(t.rotation().angle()+_measurement));

错误2：
[ 42%] Building CXX object g2o/apps/g2o_viewer/CMakeFiles/viewer_library.dir/g2o_qglviewer.cpp.o
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.cpp:46:13: error: conflicting return type specified for ‘virtual float g2o::{anonymous}::StandardCamera::zNear() const’
float zNear() const {
^
In file included from /usr/include/QGLViewer/qglviewer.h:26:0,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.h:22,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.cpp:19:
/usr/include/QGLViewer/camera.h:231:16: error: overriding ‘virtual qreal qglviewer::Camera::zNear() const’
virtual qreal zNear() const;
^
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.cpp:53:13: error: conflicting return type specified for ‘virtual float g2o::{anonymous}::StandardCamera::zFar() const’
float zFar() const
^
In file included from /usr/include/QGLViewer/qglviewer.h:26:0,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.h:22,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.cpp:19:
/usr/include/QGLViewer/camera.h:232:16: error: overriding ‘virtual qreal qglviewer::Camera::zFar() const’
virtual qreal zFar() const;
^
g2o/apps/g2o_viewer/CMakeFiles/viewer_library.dir/build.make:80: recipe for target ‘g2o/apps/g2o_viewer/CMakeFiles/viewer_library.dir/g2o_qglviewer.cpp.o’ failed
make[2]: *** [g2o/apps/g2o_viewer/CMakeFiles/viewer_library.dir/g2o_qglviewer.cpp.o] Error 1
CMakeFiles/Makefile2:610: recipe for target ‘g2o/apps/g2o_viewer/CMakeFiles/viewer_library.dir/all’ failed
make[1]: *** [g2o/apps/g2o_viewer/CMakeFiles/viewer_library.dir/all] Error 2
Makefile:127: recipe for target ‘all’ failed
make: *** [all] Error 2

问题2解决方法：
用g2o ( g2o github上 )安装包中的g2o_qglviewer.cpp文件替换
路径为：
rgbd-slam-tutorial-gx-master/g2o/g2o/apps/g2o_viewer/g2o_qglviewer.cpp

问题3：
[ 68%] Building CXX object g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /usr/include/eigen3/Eigen/SparseCore:11,
from /usr/include/eigen3/Eigen/Sparse:26,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/solvers/eigen/linear_solver_eigen.h:30,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/solvers/eigen/solver_eigen.cpp:17:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op]’:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type = void*]’
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17: required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/solvers/eigen/linear_solver_eigen.h:66:18: required from ‘void g2o::LinearSolverEigen::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>; g2o::LinearSolverEigen::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/solvers/eigen/linear_solver_eigen.h:193:9: required from ‘void g2o::LinearSolverEigen::computeSymbolicDecomposition(const g2o::SparseBlockMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>]’
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/solvers/eigen/linear_solver_eigen.h:98:37: required from ‘bool g2o::LinearSolverEigen::solve(const g2o::SparseBlockMatrix&, double*, double*) [with MatrixType = Eigen::Matrix<double, -1, -1>]’
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/solvers/eigen/solver_eigen.cpp:109:1: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:119:9: error: ‘YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY’ is not a member of ‘Eigen::internal::static_assertion’
if (Eigen::internal::static_assertion<static_cast(CONDITION)>::MS
^
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:707:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT((internal::functor_is_product_like::ret
^
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: note: in expansion of macro ‘EIGEN_CHECK_BINARY_COMPATIBILIY’
EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,ty
^
g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build.make:62: recipe for target ‘g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o’ failed
make[2]: *** [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o] Error 1
CMakeFiles/Makefile2:1682: recipe for target ‘g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all’ failed
make[1]: *** [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all] Error 2
Makefile:127: recipe for target ‘all’ failed
make: *** [all] Error 2

问题3解决：
打开文件目录：g2o/g2o/solvers/eigen/linear_solver_eigen.h

将代码：

template <typename MatrixType>
class LinearSolverEigen: public LinearSolver<MatrixType>
 {
   public:
    typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;
    typedef Eigen::Triplet<double> Triplet;
    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, SparseMatrix::Index> PermutationMatrix;
 
 改成                                       
 template <typename MatrixType>
 class LinearSolverEigen: public LinearSolver<MatrixType>
 {
  public:
    typedef Eigen::SparseMatrix<double, Eigen::ColMajor> SparseMatrix;    
 	typedef Eigen::Triplet<double> Triplet;
    typedef Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> PermutationMatrix;

问题4：
[ 73%] Building CXX object g2o/examples/tutorial_slam2d/CMakeFiles/tutorial_slam2d_library.dir/simulator.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/examples/tutorial_slam2d/se2.h:35,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/examples/tutorial_slam2d/simulator.h:30,
from /home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/examples/tutorial_slam2d/simulator.cpp:27:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h: In instantiation of ‘void Eigen::PlainObjectBase::_init1(Eigen::Index, typename Eigen::internal::enable_if<(((typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 1) || (! Eigen::internal::is_convertible<T, typename Eigen::internal::traits::Scalar>::value)) && ((! Eigen::internal::is_same<typename Eigen::internal::traits::XprKind, Eigen::ArrayXpr>::value) || (typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime == Eigen::Dynamic))), T>::type*) [with T = g2o::tutorial::Simulator::MotionType; Derived = Eigen::Matrix<double, -1, 1>; Eigen::Index = long int; typename Eigen::internal::enable_if<(((typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime != 1) || (! Eigen::internal::is_convertible<T, typename Eigen::internal::traits::Scalar>::value)) && ((! Eigen::internal::is_same<typename Eigen::internal::traits::XprKind, Eigen::ArrayXpr>::value) || (typename Eigen::internal::dense_xpr_base::type:: SizeAtCompileTime == Eigen::Dynamic))), T>::type = g2o::tutorial::Simulator::MotionType]’:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:296:31: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const T&) [with T = g2o::tutorial::Simulator::MotionType; _Scalar = double; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’
/home/wangle/pcl/rgbd-slam-tutorial-gx-master/g2o/g2o/examples/tutorial_slam2d/simulator.cpp:78:39: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:119:9: error: ‘FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED’ is not a member of ‘Eigen::internal::static_assertion’
if (Eigen::internal::static_assertion<static_cast(CONDITION)>::MS
^
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:745:7: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT(is_integer,
^
g2o/examples/tutorial_slam2d/CMakeFiles/tutorial_slam2d_library.dir/build.make:206: recipe for target ‘g2o/examples/tutorial_slam2d/CMakeFiles/tutorial_slam2d_library.dir/simulator.cpp.o’ failed
make[2]: *** [g2o/examples/tutorial_slam2d/CMakeFiles/tutorial_slam2d_library.dir/simulator.cpp.o] Error 1
CMakeFiles/Makefile2:1897: recipe for target ‘g2o/examples/tutorial_slam2d/CMakeFiles/tutorial_slam2d_library.dir/all’ failed
make[1]: *** [g2o/examples/tutorial_slam2d/CMakeFiles/tutorial_slam2d_library.dir/all] Error 2
Makefile:127: recipe for target ‘all’ failed
make: *** [all] Error 2

问题4解决方法：
删除rgbd-slam-tutorial-gx-master/g2o/g2o文件夹下的examples文件夹（注意删除相应的camkeList.txt文件中关于该文件夹的make语句）

# Examples
IF(G2O_BUILD_EXAMPLES)
  ADD_SUBDIRECTORY(examples)
ENDIF(G2O_BUILD_EXAMPLES)

问题5：
在运行生成的可执行文件时：找不到这个libg2o_core.so的解决办法：

sudo gedit /etc/ld.so.conf（会打开一个文件）
/usr/local/lib（新行中添加到打开的文件中保存）
sudo ldconfig（运行）

第七步:安装

sudo make install

第八步:测试运行g2o_viewer

cd g2o/bin
./g2o_viewer