https://github.com/RainerKuemmerle/g2o
1、sudo apt-get install libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev
2、mkdir build & cd build & cmake ../ & make -j4 & sudo make install3、lib:/usr/local/lib include:/usr/local/include/g2o