使用g2o进行曲线拟合的问题

问题一：error while loading shared libraries: libg2o_core.so.0.1: cannot open shared object file: No such file or directory

1.打开终端输入 sudo gedit /etc/ld.so.conf

2.在打开的文件下面一行输入 /usr/local/lib

3.保存文件，并在终端输入 sudo ldconfig

问题二:/usr/local/include/g2o/stuff/tuple_tools.h:34:46: error: ‘std::index_sequence’ has not been declared

问题三:/usr/local/include/g2o/stuff/tuple_tools.h: In function ‘void g2o::tuple_apply_i(F&&, T&, int)’:

1.在CMakeLists.txt中，将set(CMAKE_CXX_STANDARD 11)或set(CMAKE_CXX_STANDARD 14)更改成set(CMAKE_CXX_STANDARD 17)，原因是g2o版本比较新，需要C++编译版本高

问题四:命名空间g2o没有成员make_unique

原因：g2o版本比较新，只能用std::unique_ptr替换g2o::make_unique

原来版本：

// 构建g2o优化器
g2o::SparseOptimizer optimizer;
std::unique_ptr<g2o::BlockSolver< g2o::BlockSolverTraits<4, 1> >::LinearSolverType> linearSolver = g2o::make_unique<g2o::LinearSolverDense<g2o::BlockSolver< g2o::BlockSolverTraits<4, 1> >::PoseMatrixType> >();
std::unique_ptr<g2o::BlockSolver< g2o::BlockSolverTraits<4, 1> > > blockSolver = g2o::make_unique<g2o::BlockSolver< g2o::BlockSolverTraits<4, 1> > >(std::move(linearSolver));
g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver));

替换版本：

g2o::SparseOptimizer optimizer;
typedef g2o::BlockSolver< g2o::BlockSolverTraits<4, 1>>  Block;
std::unique_ptr<Block::LinearSolverType> linearSolver (new g2o::LinearSolverDense<Block::PoseMatrixType> ());
std::unique_ptr<Block > blockSolver (new Block (std::move(linearSolver)));
g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver));