克隆项目
git clone https://github.com/RainerKuemmerle/g2o
# 安装依赖
sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.2 libcholmod-dev
# g2o_viewer依赖
sudo apt-get install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5
# 编译安装
cd g2o
mkdir build
cd build
cmake ..
cmake -DG2O_BUILD_APPS=ON -DG2O_BUILD_EXAMPLES=ON
make -j10
sudo make install
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