camke(11)配置g2o

 

适配 openvslam和 slam14讲解代码版本

1. Eigen安装(最新3.3.7）

wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.bz2
tar xf eigen-3.3.7.tar.bz2
rm -rf eigen-3.3.7.tar.bz2
cd eigen-3.3.7
mkdir -p build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    ..
make -j4
make install

　　

2 g2o

不能下载最新版本，可能因为太新编译slam会报错

１：删除g2o的头文件，位于/usr/local/include/g2o下
 
sudo rm -r /usr/local/include/g2o
 
２：删除g2o的库文件，位于/usr/local/lib下
 
sudo rm -r /usr/local/lib/libg2o*
 
3：删除g2o的可执行文件，位于/usr/local/bin下
 
sudo rm -r /usr/local/bin/g2o*

　　下载老版本呢

https://codeload.github.com/RainerKuemmerle/g2o/zip/refs/tags/20200410_git

　　编译

 

mkdir build && cd build
cmake \
    -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=/usr/local \
    -DCMAKE_CXX_FLAGS=-std=c++11 \
    -DBUILD_SHARED_LIBS=ON \
    -DBUILD_UNITTESTS=OFF \
    -DBUILD_WITH_MARCH_NATIVE=ON \
    -DG2O_USE_CHOLMOD=OFF \
    -DG2O_USE_CSPARSE=ON \
    -DG2O_USE_OPENGL=OFF \
    -DG2O_USE_OPENMP=ON \
    ..
make -j8
make install

　　这里涉及一个段错误的问题 变量开了on，openvslam编译也开了on，但是slam14代码报错段错误，用off就不报段错误。

  -DBUILD_WITH_MARCH_NATIVE=ON \

　　直接Cmkalists添加解决段错误

# 防止因为-DBUILD_WITH_MARCH_NATIVE=ON  运行段错误
set(CMAKE_CXX_FLAGS "-std=c++11 ${SSE_FLAGS} -g -O3 -march=native")  
# set(CMAKE_CXX_FLAGS "-std=c++11 ${SSE_FLAGS} -g -O3 ") 

　　openvslam对应

set(BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable architecture-aware optimization (-march=native)")
if(BUILD_WITH_MARCH_NATIVE)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
    set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
    message(STATUS "Architecture-aware optimization (-march=native): ENABLED")
else()
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
    set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
    message(STATUS "Architecture-aware optimization (-march=native): DISABLED")
endif()

　　

 

 然后就不报错了

 

 

 

 

如果需要 报错

./curve_fitting: error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory 

解决方法（参考链接）

sudo gedit /etc/ld.so.conf

在里面加入

include /usr/local/lib

运行

sudo ldconfig

 

报错2

/usr/bin/ld：找不到 -lopengl_helper #362

@feroze这是不对的。
@foolishairopengl_helper 是 g2o的一部分。
我认为是这个部分导致了问题，因为它是可配置的，即使你将 opengl 设置为 OFF，只要你的系统上安装了 opengl 和 qt，就会构建 g2o_viewer，但不会构建 opengl_helper，因此构建会失败。

一个解决方案是，至少对我来说，在 cmake 中添加以下内容：
-DG2O_HAVE_OPENGL=ON

　　

代码调用

默认安装没有把FindG2O.cmake一并放入系统盘，需要两种方式手动导入

 

 简单方式1 指定安装包的FindG2O.cmake

工程

安装包

 对应

list( APPEND CMAKE_MODULE_PATH "/home/r9000k/v1_software/openvslam/g2o-master/cmake_modules" ) #添加搜索路径

　　

最简单调用模式 忽略其他库

cmake_minimum_required(VERSION 2.8)
project(3DTo3D)

set(CMAKE_CXX_STANDARD 11)
set(CMAKE_BUILD_TYPE Release)

# 防止因为-DBUILD_WITH_MARCH_NATIVE=ON  运行段错误
set(CMAKE_CXX_FLAGS "-std=c++11 ${SSE_FLAGS} -g -O3 -march=native")  
# set(CMAKE_CXX_FLAGS "-std=c++11 ${SSE_FLAGS} -g -O3 ") 


find_package(Pangolin REQUIRED)# 可视化工具库
include_directories(${Pangolin_INCLUDE_DIRS})



# OpenCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
 

# Sophus
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
     
# Eigen
# 不需要寻找 手动指定默认安装位置 只是一堆头文件 无需target_link_libraries
find_package(Eigen3 REQUIRED)
include_directories("/usr/local/include/eigen3")

# G2O
set(ALL_TARGET_LIBRARIES g2o_core g2o_types_slam3d g2o_solver_csparse g2o_stuff g2o_csparse_extension)
include("/home/dongdong/1sorftware/1work/openvslam/g2o-20201223_git/cmake_modules/FindG2O.cmake") # 改成自己安装包
#include(cmake/FindG2O.cmake)

# 编译节点
add_executable(v1_node main.cpp)

# 链接目标
target_link_libraries(v1_node ${Pangolin_LIBRARIES} ${OpenCV_LIBS} ${ALL_TARGET_LIBRARIES}  -lgomp)

　　

 

 

 CMakeLists.txt

#声明要求的cmake最低版本
cmake_minimum_required(VERSION 3.0)
project( SLAM )

set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "-std=c++14 -O3")

# OpenCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# Eigen
find_package(Eigen3 REQUIRED)
include_directories("/usr/local/include/eigen3")

# g2o
list( APPEND CMAKE_MODULE_PATH "/home/r9000k/v1_software/openvslam/g2o-20201223_git/cmake_modules" ) #添加自己的安装包对应路径
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})
# 设置动态库连接
SET(G2O_LIBRARIES ${G2O_STUFF_LIBRARY} ${G2O_CORE_LIBRARY} ${G2O_CLI_LIBRARY} ${G2O_SOLVER_CHOLMOD} ${G2O_SOLVER_CSPARSE} ${G2O_SOLVER_CSPARSE_EXTENSION} 
${G2O_SOLVER_DENSE} ${G2O_SOLVER_PCG} ${G2O_SOLVER_SLAM2D_LINEAR} ${G2O_SOLVER_STRUCTURE_ONLY} ${G2O_SOLVER_EIGEN} ${G2O_TYPES_DATA} ${G2O_TYPES_ICP} ${G2O_TYPES_SBA}
${G2O_TYPES_SCLAM2D} ${G2O_TYPES_SIM3} ${G2O_TYPES_SLAM2D} ${G2O_TYPES_SLAM3D})



#给工程添加一个可执行程序
add_executable(SLAM main.cpp)

#给工程链接库
# Eigen3就是一堆头文件没有连接库
target_link_libraries(SLAM ${OpenCV_LIBS}) 
target_link_libraries(SLAM ${G2O_LIBRARIES} )

　　

 

 

 简单方式2 手动给文件

 

CMakeLists.txt

cmake_minimum_required(VERSION 3.1)
project(untitled2)

set(CMAKE_CXX_STANDARD 11)
set(CMAKE_BUILD_TYPE Release)

set(ALL_TARGET_LIBRARIES "")


include(cmake/FindG2O.cmake)

#方式1
find_package(Eigen3 REQUIRED)
include_directories("/usr/local/include/eigen3")

#方式2 
#include(cmake/FindEigen3.cmake)


add_executable(fit_curve fit_curve.cpp)
target_link_libraries(fit_curve ${ALL_TARGET_LIBRARIES})

　　

　　安装包对应文件位置

 

 cmake/FindG2O.cmake

# Find the header files

find_path(G2O_INCLUDE_DIR g2o/core/base_vertex.h
        ${G2O_ROOT}/include
        $ENV{G2O_ROOT}/include
        $ENV{G2O_ROOT}
        /usr/local/include
        /usr/include
        /opt/local/include
        /sw/local/include
        /sw/include
        NO_DEFAULT_PATH
        )

# Macro to unify finding both the debug and release versions of the
# libraries; this is adapted from the OpenSceneGraph FIND_LIBRARY
# macro.

macro(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)

    find_library("${MYLIBRARY}_DEBUG"
            NAMES "g2o_${MYLIBRARYNAME}_d"
            PATHS
            ${G2O_ROOT}/lib/Debug
            ${G2O_ROOT}/lib
            $ENV{G2O_ROOT}/lib/Debug
            $ENV{G2O_ROOT}/lib
            NO_DEFAULT_PATH
            )

    find_library("${MYLIBRARY}_DEBUG"
            NAMES "g2o_${MYLIBRARYNAME}_d"
            PATHS
            ~/Library/Frameworks
            /Library/Frameworks
            /usr/local/lib
            /usr/local/lib64
            /usr/lib
            /usr/lib64
            /opt/local/lib
            /sw/local/lib
            /sw/lib
            )

    find_library(${MYLIBRARY}
            NAMES "g2o_${MYLIBRARYNAME}"
            PATHS
            ${G2O_ROOT}/lib/Release
            ${G2O_ROOT}/lib
            $ENV{G2O_ROOT}/lib/Release
            $ENV{G2O_ROOT}/lib
            NO_DEFAULT_PATH
            )

    find_library(${MYLIBRARY}
            NAMES "g2o_${MYLIBRARYNAME}"
            PATHS
            ~/Library/Frameworks
            /Library/Frameworks
            /usr/local/lib
            /usr/local/lib64
            /usr/lib
            /usr/lib64
            /opt/local/lib
            /sw/local/lib
            /sw/lib
            )

    if (NOT ${MYLIBRARY}_DEBUG)
        if (MYLIBRARY)
            set(${MYLIBRARY}_DEBUG ${MYLIBRARY})
        endif (MYLIBRARY)
    endif (NOT ${MYLIBRARY}_DEBUG)

endmacro(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)

# Find the core elements
FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)

# Find the CLI library
FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)

# Find the pluggable solvers
FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)

# Find the predefined types
FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)

# G2O solvers declared found if we found at least one solver
set(G2O_SOLVERS_FOUND "NO")
if (G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
    set(G2O_SOLVERS_FOUND "YES")
endif (G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)

# G2O itself declared found if we found the core libraries and at least one solver
set(G2O_FOUND "NO")
if (G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)
    set(G2O_FOUND "YES")
endif (G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_SOLVERS_FOUND)

include_directories(SYSTEM ${G2O_INCLUDE_DIR})
list(APPEND ALL_TARGET_LIBRARIES
        ${G2O_TYPES_DATA}
        ${G2O_CORE_LIBRARY}
        ${G2O_STUFF_LIBRARY}
        ${G2O_SOLVER_PCG}
        ${G2O_SOLVER_CSPARSE}
        ${G2O_SOLVER_CHOLMOD}
        ${G2O_TYPES_SLAM3D}
        ${G2O_TYPES_SLAM3D_ADDONS})