安装g2opy框架

已于 2022-07-19 10:55:03 修改
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分类专栏： Cmake 文章标签： bash linux 开发语言
于 2022-07-14 15:14:58 首次发布
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本文链接：https://blog.csdn.net/weixin_42888638/article/details/125783270
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文章目录

前言

笔者因为需要使用g2o的python版本解决优化问题，所以就要安装g2opy。但由于安装过程中的一些细节和依赖版本出现偏差，容易导致安装失败。这里，笔者就将这几天调试成功的过程进行总结q(≧▽≦q)
参考链接
uoip/g2opy
Sologala/g2opy
调试环境
Google colab（自己电脑内存不足QAQ）
整体代码

git clone https://github.com/uoip/g2opy.git
cd g2opy
mkdir build
cd build
cmake ..
make -j8
cd ..
python setup.py install

下载源码

!git clone https://github.com/uoip/g2opy.git

在这里插入图片描述

下载相关依赖

cmake和Eigin下载

!apt-get install cmake libeigen3-dev

在这里插入图片描述

!apt-get install libsuitesparse-dev

!apt-get install qtdeclarative5-dev  qt5-qmake 

!apt-get install qtdeclarative5-dev qt5-qmake libqglviewer-headers

几个依赖的版本总结

pybind11   v2.9.1
Python     v3.7
gcc        version 7.5.0 (Ubuntu 7.5.0-3ubuntu1~18.04)
Eigin      v3.3.4-4
Cmake      v3.22.5

Make

cd g2opy
!mkdir build
cd build

!cmake -DPYBIND11_PYTHON_VERSION=3.7 ..

注意：为了防止出现以下的Bug,所以需要指定上-DPYBIND11_PYTHON_VERSION
在这里插入图片描述
Cmake结果
在这里插入图片描述

!make -j8

在这里插入图片描述

在make到96%和99%的时候会出现一些提示，如果是如下的提示可以完全忽略。
make到【99%】到【100%】时编译比较慢，同时会占用较大的内存。
因此，需要注意内存开销以及耐心等待

[ 92%] Built target types_slam3d_addons
In file included from /usr/include/eigen3/Eigen/Core:473:0,
                 from /content/g2opy/g2o/core/eigen_types.h:30,
                 from /content/g2opy/build/g2o/config.h:26,
                 from /content/g2opy/g2o/core/openmp_mutex.h:30,
                 from /content/g2opy/g2o/core/optimizable_graph.h:37,
                 from /content/g2opy/g2o/core/base_vertex.h:30,
                 from /content/g2opy/g2o/types/sba/types_sba.h:30,
                 from /content/g2opy/g2o/types/sba/types_sba.cpp:27:
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h: In member function ‘virtual void g2o::VertexCam::setToOriginImpl()’:
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:82: warning: ‘*((void*)&<anonymous> +160)’ is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
                                                                     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +168)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
                                                                                      ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +176)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
                                                                                      ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:82: warning: ‘*((void*)&<anonymous> +184)’ is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
                                                                     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +192)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
                                                                                      ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +200)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
                                                                                      ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:82: warning: ‘*((void*)&<anonymous> +208)’ is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
                                                                     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +216)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
                                                                                      ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +224)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
                                                                                      ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:82: warning: ‘*((void*)&<anonymous> +232)’ is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
                                                                     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +240)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
                                                                                      ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:99: warning: ‘*((void*)&<anonymous> +248)’ is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);

[ 99%] Building CXX object python/CMakeFiles/g2o.dir/g2o.cpp.o
In file included from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:34: warning: ‘int PyThread_create_key()’ is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
                                  ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:34: warning: ‘int PyThread_create_key()’ is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
                                  ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h: In function ‘pybind11::detail::internals& pybind11::detail::get_internals()’:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:167:53: warning: ‘int PyThread_create_key()’ is deprecated [-Wdeprecated-declarations]
         internals_ptr->tstate = PyThread_create_key();
                                                     ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:168:61: warning: ‘int PyThread_set_key_value(int, void*)’ is deprecated [-Wdeprecated-declarations]
         PyThread_set_key_value(internals_ptr->tstate, tstate);
                                                             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^~~~~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/python/g2o.cpp:1:0:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In constructor ‘pybind11::gil_scoped_acquire::gil_scoped_acquire()’:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1741:75: warning: ‘void* PyThread_get_key_value(int)’ is deprecated [-Wdeprecated-declarations]
         tstate = (PyThreadState *) PyThread_get_key_value(internals.tstate);
                                                                           ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:98:20: note: declared here
 PyAPI_FUNC(void *) PyThread_get_key_value(int key) Py_DEPRECATED(3.7);
                    ^~~~~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/python/g2o.cpp:1:0:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1753:60: warning: ‘int PyThread_set_key_value(int, void*)’ is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(internals.tstate, tstate);
                                                            ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^~~~~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/python/g2o.cpp:1:0:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In member function ‘void pybind11::gil_scoped_acquire::dec_ref()’:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1792:69: warning: ‘void PyThread_delete_key_value(int)’ is deprecated [-Wdeprecated-declarations]
             PyThread_delete_key_value(detail::get_internals().tstate);
                                                                     ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:99:18: note: declared here
 PyAPI_FUNC(void) PyThread_delete_key_value(int key) Py_DEPRECATED(3.7);
                  ^~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/python/g2o.cpp:1:0:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In constructor ‘pybind11::gil_scoped_release::gil_scoped_release(bool)’:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1820:52: warning: ‘int PyThread_set_key_value(int, void*)’ is deprecated [-Wdeprecated-declarations]
                 PyThread_set_key_value(key, nullptr);
                                                    ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^~~~~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/python/g2o.cpp:1:0:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In destructor ‘pybind11::gil_scoped_release::~gil_scoped_release()’:
/content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1833:47: warning: ‘int PyThread_set_key_value(int, void*)’ is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(key, tstate);
                                               ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /content/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /content/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^~~~~~~~~~~~~~~~~~~~~~
In file included from /content/g2opy/python/g2o.cpp:19:0:
/content/g2opy/python/core/base_unary_edge.h: In function ‘void g2o::declareBaseUnaryEdge(pybind11::module&)’:
/content/g2opy/python/core/base_unary_edge.h:33:40: warning: unused parameter ‘m’ [-Wunused-parameter]
 void declareBaseUnaryEdge(py::module & m) {
                                        ^
In file included from /content/g2opy/python/g2o.cpp:20:0:
/content/g2opy/python/core/base_binary_edge.h: In function ‘void g2o::declareBaseBinaryEdge(pybind11::module&)’:
/content/g2opy/python/core/base_binary_edge.h:40:41: warning: unused parameter ‘m’ [-Wunused-parameter]
 void declareBaseBinaryEdge(py::module & m) {
                                         ^
In file included from /content/g2opy/python/g2o.cpp:25:0:
/content/g2opy/python/core/linear_solver.h: In function ‘void g2o::declareLinearSolver(pybind11::module&)’:
/content/g2opy/python/core/linear_solver.h:38:39: warning: unused parameter ‘m’ [-Wunused-parameter]
 void declareLinearSolver(py::module & m) {
                                       ^
[100%] Linking CXX shared module ../../lib/g2o.cpython-37m-x86_64-linux-gnu.so
D.22163 + 160]’/content/g2opy/g2o/types/sba/types_sba.h: In member function ‘setToOriginImpl’:
/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
   ^
D.22163 + 168]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
D.22163 + 176]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
D.22163 + 184]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
   ^
D.22163 + 192]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
D.22163 + 200]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
D.22163 + 208]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
   ^
D.22163 + 216]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
D.22163 + 224]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
D.22163 + 232]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:649:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
   ^
D.22163 + 240]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
D.22163 + 248]’/usr/include/eigen3/Eigen/src/Core/ProductEvaluators.h:631:3: warning:  is used uninitialized in this function [-Wuninitialized]
     res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
   ^
[100%] Built target g2o

安装到python

cd ..
!python setup.py install

在这里插入图片描述
简单测试一下：
测试Example:

import numpy as np
import g2o

class BundleAdjustment(g2o.SparseOptimizer):
    def __init__(self, ):
        super().__init__()
        solver = g2o.BlockSolverSE3(g2o.LinearSolverCSparseSE3())
        solver = g2o.OptimizationAlgorithmLevenberg(solver)
        super().set_algorithm(solver)

    def optimize(self, max_iterations=10):
        super().initialize_optimization()
        super().optimize(max_iterations)

    def add_pose(self, pose_id, pose, cam, fixed=False):
        sbacam = g2o.SBACam(pose.orientation(), pose.position())
        sbacam.set_cam(cam.fx, cam.fy, cam.cx, cam.cy, cam.baseline)

        v_se3 = g2o.VertexCam()
        v_se3.set_id(pose_id * 2)   # internal id
        v_se3.set_estimate(sbacam)
        v_se3.set_fixed(fixed)
        super().add_vertex(v_se3) 

    def add_point(self, point_id, point, fixed=False, marginalized=True):
        v_p = g2o.VertexSBAPointXYZ()
        v_p.set_id(point_id * 2 + 1)
        v_p.set_estimate(point)
        v_p.set_marginalized(marginalized)
        v_p.set_fixed(fixed)
        super().add_vertex(v_p)

    def add_edge(self, point_id, pose_id, 
            measurement,
            information=np.identity(2),
            robust_kernel=g2o.RobustKernelHuber(np.sqrt(5.991))):   # 95% CI

        edge = g2o.EdgeProjectP2MC()
        edge.set_vertex(0, self.vertex(point_id * 2 + 1))
        edge.set_vertex(1, self.vertex(pose_id * 2))
        edge.set_measurement(measurement)   # projection
        edge.set_information(information)

        if robust_kernel is not None:
            edge.set_robust_kernel(robust_kernel)
        super().add_edge(edge)

    def get_pose(self, pose_id):
        return self.vertex(pose_id * 2).estimate()

    def get_point(self, point_id):
        return self.vertex(point_id * 2 + 1).estimate()

.so文件处理

将生成的.so文件所在文件夹lib进行压缩处理，

!tar -cvf FileName.tar lib

在这里插入图片描述
接着进入g2opy目录下

python setup.py install

在这里插入图片描述

就可以使用啦！！！

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