ubuntu18.04解决g2o_viewer安装

问题

在跟着高博一起做RGB-D-SLAM时，需要用到g2o_viewer来查看.g2o的文件时，发现并没有g2o_viewer可执行文件
g2o版本https://github.com/RainerKuemmerle/g2o

解决(不看过程的话，直接看step)

查看g2o的源文件g2o/g2o/apps，发现有g2o_viewer这个文件，但是没有编译出来可执行文件
查看g2o_viewer里面的cmake文件

if(Qt5_FOUND)
  QT5_WRAP_UI(UI_HEADERS base_main_window.ui base_properties_widget.ui)
  QT5_WRAP_CPP(UI_SOURCES main_window.h properties_widget.h)

  include_directories(${Qt5Core_INCLUDE_DIRS} ${Qt5Xml_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS})
  string(APPEND qt5_includes_dirs "${Qt5Core_INCLUDE_DIRS} ${Qt5Xml_INCLUDE_DIRS} ${Qt5Gui_INCLUDE_DIRS} ${Qt5Widgets_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS}")
  set(MY_QT_LIBRARIES ${Qt5Widgets_LIBRARIES} ${Qt5Core_LIBRARIES} ${Qt5Gui_LIBRARIES} ${Qt5Xml_LIBRARIES} ${Qt5OpenGL_LIBRARIES})
endif()

需要系统有qt5的环境
我又查看了官网README.md，说的很清楚
添加几个依赖：

step 1环境安装

---

sudo apt-get install libsuitesparse-dev qtdeclarative5-dev qt5-qmake
sudo apt-get install libqglviewer-dev-qt5

---

重新编译g2o，查看bin文件下
已经有了g2o_viewer

终端输入打开：

g2o_viewer

又报错

g2o_viewer: error while loading shared libraries: libg2o_viewer.so: cannot open shared object file: No such file or directory

step2链接

---

sudo gedit /etc/ld.so.conf

加上

include /usr/local/lib

最后执行

ldconfig

---

结果

g2o_viewer

查看一个文件

g2o_viewer XXX.g2o

参考

https://blog.csdn.net/weixin_39754100/article/details/99717505
https://github.com/RainerKuemmerle/g2o/blob/master/README.md
https://www.cnblogs.com/gaoxiang12/p/4739934.html