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Setup g2o

G2o is a general framework for graph optimization, which means you can solve any least square problem that can be written as a graph optimization problem.

Here are g2o github page and its description page on OpenSLAM

Dependencies

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3

Installation

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

Use with CMake

find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})
#...
target_link_libraries(<your executable> ${G2O_LIBS})