Ubuntu下安装g2o

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Dependencies

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sudo apt-get install libcholmod3.0.6 libsuitesparse-dev freeglut3 freeglut3-dev freeglut3-dbg libqglviewer-dev libqglviewer-dev libeigen3-dev qtdeclarative5-dev qt5-qmake

Build

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git clone https://github.com/RainerKuemmerle/g2o.git
cd g2o
mkdir build
cd build
cmake ..
make -j8
sudo make install

Test

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./../bin/curve_fit
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Target curve
a * exp(-lambda * x) + b
Iterative least squares solution
a      = 1.98894
b      = 0.406972
lambda = 0.201044