本人小白，初学salm，在尝试跑高博大神（嘤嘤嘤，可崇拜了）《一起做RGB-D SLAM 》系列６时，现将本人遇到的问题及解决总结如下，如有不当之处，感谢指出！

１g2o 安装

本人的平台为ubuntu14.04

删除之前编译过安装过的版本

（1）sudo rm -rf /usr/local/include/g2o

（2）cd /usr/local/lib

  （３）sudo rm -rf libg2o_*

安装依赖项

sudo apt-get install cmake libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-dev

下载并安装g2o

https://codeload.github.com/RainerKuemmerle/g2o/zip/dbfea7aade1b808b4a7625175aa0dec54931a949

qt4版本的（良心推荐使用）

https://github.com/RainerKuemmerle/g2o

qt5版本（即使编译成功，最后使用g2o_viewer result_after.g2o会出现段错误，慎用）

cd g2o

mkdir build&&cd build

cmake ..

make

sudo make install

g2o_viewer 无法链接到 libqglviewer.so解决办法

（１）/etc/ld.so.conf.d/目录下添加一个g2o.config文件，把/usr/local/lib复制进去

（２）sudo ldconfig更新动态链接库

２g2o版本导致编译有问题

（１）出现C++有关的编译问题，请在CMakeLists.txt添加

SET( CMAKE_CXX_FLAGS "-std=c++11 -O3")

（２）出现无frameID 的问题请在include/slamBase.h文件的FRAME帧结构中添加

int frameID;  

（３）使用最新版本的g2o(链接２)在初始化求解器时出现不到函数或者函数参数匹配有问题，如下：

In function ‘int main(int, char**)’:/slamEnd.cpp:68:70: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(SlamLinearSolver*&)’
     SlamBlockSolver* blockSolver = new SlamBlockSolver( linearSolver );
                                                                      ^
/home/wanggang/slam/src/slamEnd.cpp:68:70: note: candidate is:
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
                 from /home/wanggang/slam/src/slamEnd.cpp:17:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: g2o::BlockSolver<Traits>::BlockSolver(std::unique_ptr<typename Traits::LinearSolverType>) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >]
 BlockSolver<Traits>::BlockSolver(std::unique_ptr<LinearSolverType> linearSolver)

发现在salmEnd.cpp中的初始化求解器与/usr/local/include/g2o/core/block_solver.hpp中定义的不同（嘿嘿，不要问我怎么知道的，俺是小白，请参考https://blog.csdn.net/robinhjwy/article/details/78084210）

于是乎，模仿这改呗，将salmEnd.cpp中的代码

SlamBlockSolver* blockSolver = new SlamBlockSolver( linearSolver );
 g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( blockSolver );

改为

   SlamBlockSolver* BlockSolver = new SlamBlockSolver(std::unique_ptr<SlamLinearSolver>(linearSolver));
  g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( std::unique_ptr<SlamBlockSolver>(BlockSolver) );

再次编译，咦，居然通过了，嘿嘿

贴出最后的结果图

 

参考链接：https://blog.csdn.net/n66040927/article/details/79316185

https://blog.csdn.net/LOVE1055259415/article/details/79877368