Ubuntu16.04安装g2o

安装g2o

1.依赖项:

sudo apt-get install cmake libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev

2.下载g2o并安装

git clone https://github.com/RainerKuemmerle/g2o/
cd g2o
mkdir build
cd build
cmake ../
make
sudo make install

https://blog.csdn.net/heyijia0327/article/details/47813405 下载这个g2o测试demo，并根据https://github.com/RainerKuemmerle/g2o/blob/master/g2o/examples/simple_optimize/simple_optimize.cpp 作以相应的更新。

运行g2o_test报错：

/home/zhkai/code/g2o_test/bin/g2o_test: error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory

解决办法：
sudo ldconfig

参考文档 https://blog.csdn.net/heyijia0327/article/details/47813405