关于RGBDSLAMV2学习、安装、调试过程

Step１：https://github.com/felixendres/rgbdslam_v2/wiki/Instructions-for-Compiling-Rgbdslam-(V2)-on-a-Fresh-Ubuntu-16.04-Install-(Ros-Kinetic)-in-Virtualbox

照着这个instructions安装好 rgbdslamv2，并且在安装的过程中，后续要用的依赖也已经安装好了

Step２：https://www.twblogs.net/a/5c542fdcbd9eee06ee218f6c/zh-cn

照着高翔的指导一步一步的学习，存在的大部分问题在上面的博客中可以解决

备注：

关于g20部分，代码提示c++11不兼容等诸多问题，在src目录下添加支持c++11即可

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

 if(COMMAND cmake_policy)
  cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)

step3:关于g2o_viewer提示core dump段错误问题

这是因为编译时qt4  qt5不兼容问题，解决办法,(qt5 版本)

• １　sudo apt-get install libqglviewer-dev
• ２　qmake -v 检查是不是qt5
• ３　找到g2o源码目录的cmake_module目录，打开FindQGViewer.cmake
• 4　把前几行关于qt4的部分注释掉添加

  # Need to find both Qt{,} and QGLViewer if the QQL support is to be built
  #FIND_PACKAGE(Qt4 COMPONENTS QtCore QtXml QtOpenGL QtGui)
  #IF(NOT Qt4_FOUND)
  #    FIND_PACKAGE(Qt5 QUIET COMPONENTS Core Xml OpenGL Gui Widgets)
  #    IF(NOT Qt4_FOUND AND NOT Qt5_FOUND)
  #        MESSAGE("Qt{4,5} not found. Install it and set Qt{4,5}_DIR accordingly")
  #        IF (WIN32)
  #            MESSAGE("  In Windows, Qt5_DIR should be something like C:/Qt/5.4/msvc2013_64_opengl/lib/cmake/Qt5")
  #        ENDIF()
  #    ENDIF()
  #ENDIF()
  FIND_PACKAGE(Qt5 COMPONENTS Core Xml OpenGL Gui Widgets)
  IF(NOT Qt5_FOUND)
    MESSAGE("Qt5 not found. Install it and set Qt5_DIR accordingly")
    IF (WIN32)
      MESSAGE("  In Windows, Qt5_DIR should be something like C:/Qt/5.4/msvc2013_64_opengl/lib/cmake/Qt5")
    ENDIF()
  ENDIF()

  关于find_library(QGLVIEWER_LIBRARY_RELEASE　　和　find_library(QGLVIEWER_LIBRARY_DEBUG的部分　改成一下内容

  find_library(QGLVIEWER_LIBRARY_RELEASE
    #NAMES qglviewer-qt4 qglviewer QGLViewer QGLViewer2
    #NAMES qglviewer-qt5  QGLViewer-qt5
    #NAMES qglviewer-qt4 QGLViewer-qt4 qglviewer QGLViewer QGLViewer2
    NAMES qglviewer QGLViewer
    PATHS /usr/lib
          /usr/local/lib
          /opt/local/lib
      /usr/lib/x86_64-linux-gnu
          /sw/lib
          ENV QGLVIEWERROOT
          ENV LD_LIBRARY_PATH
          ENV LIBRARY_PATH
    PATH_SUFFIXES QGLViewer QGLViewer/release
  )
  find_library(QGLVIEWER_LIBRARY_DEBUG
    #NAMES dqglviewer dQGLViewer dQGLViewer2 QGLViewerd2
    NAMES dqglviewer dQGLViewer dQGLViewer QGLViewerd2
    PATHS /usr/lib
          /usr/local/lib
          /opt/local/lib
      /usr/lib/x86_64-linux-gnu
          /sw/lib
          ENV QGLVIEWERROOT
          ENV LD_LIBRARY_PATH
          ENV LIBRARY_PATH
    #PATH_SUFFIXES QGLViewer QGLViewer/release
    PATH_SUFFIXES QGLViewer QGLViewer/debug
  )

• ５　返回g2o/build ,执行

  cmake ..
  make -j4
  make install

• 6　运行g2o_viewer　便成功了

工作环境:ubuntu16.04