g2o小记

1耗时问题

在g2o中有许多Solver可以选择。
实测发现Dense非常非常的慢，慢到不能用。
后面改成Cholmod就非常快。
在使用Cholmod时还需要在cmakelists里加一个lib的依赖 cholmod
这个cmakelists比较乱，可以做很多精简，这里仅仅做个记录

cmake_minimum_required( VERSION 2.8 )
cmake_policy(VERSION 2.8)
project ( g2o_test )

set( CMAKE_CXX_COMPILER "g++" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3 " )

list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
############### dependencies ######################
# Eigen
include_directories( "/usr/include/eigen3" )

# G2O
find_package( G2O REQUIRED )
find_package( Cholmod REQUIRED )
include_directories( ${G2O_INCLUDE_DIRS} )
find_package( CSparse REQUIRED )

include_directories(
    ${G2O_INCLUDE_DIRS}
    ${CSPARSE_INCLUDE_DIR}
    ${Cholmod_INCLUDE_DIR}
    )
message("include_dir = " ${G2O_CORE_LIBRARY_DEBUG})
message("include_dir = " ${Cholmod_INCLUDE_DIR})
set( THIRD_PARTY_LIBS 
    ${Cholmod_LIBRARIES}
  #  ${G2O_CORE_LIBRARY_DEBUG}
 #   ${G2O_STUFF_LIBRARY_DEBUG}
  #  ${G2O_TYPES_SLAM3D_DEBUG}
  #  ${G2O_TYPES_SBA_DEBUG}
    cholmod

    g2o_types_slam3d
    g2o_types_sba
    g2o_core
    g2o_stuff
    g2o_s