Ubuntu 16.04 安装 g2o 问题汇总

问题1：

报错信息：
/home/robot/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp: In member function ‘virtual void g2o::EdgeSE2PointXYBearing::initialEstimate(const VertexSet&, g2o::OptimizableGraph::Vertex*)’:
/home/robot/g2o/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:50:52: error: no matching function for call to ‘g2o::SE2::setRotation(Eigen::Rotation2D<double>::Scalar)’
     t.setRotation(t.rotation().angle()+_measurement);

处理方法：

In g2o/types/slam2d/edge_se2_pointxy_bearing.cpp line 51 change:

t.setRotation(t.rotation().angle()+_measurement);

to

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

 

问题2：