g2o ubuntu14.04 编译含qt5

依赖关系

必须：

Cmake

Eigen3

http://www.cmake.org/

http://eigen.tuxfamily.org

1、安装cmake

2、编译eigen3

mkdir build
cd build/
cmake ..
sudo make install

可选（显示用）

Qt5

libQGLViewer

3、qt下载http://download.qt.io/archive/qt/5.7/5.7.1/ （qt有点作，一定要注册，安装时要验证的）

安装qt （./qt-opensource-linux-x64-5.7.1.run ）

默认装好qmake不能直接被调用，需要修改一下安装路径。

cd /usr/lib/x86_64-linux-gnu/qt-default/qtchooser

sudo gedit default.conf
#replace default
#/home/user/3rdparty_lib/Qt5.7.1/5.7/gcc_64/bin
#/home/user/3rdparty_lib/Qt5.7.1

4、libQGLViewer下载http://www.libqglviewer.com/

cd libQGLViewer-2.6.4/

qmake

make

5、github下载g20

https://github.com/RainerKuemmerle/g2o

修改cmake_modules/FindQGLViewer.cmake

添加qt和QGLViewer配置

set(Qt5_DIR "/home/user/3rdparty_lib/Qt5.7.1/5.7/gcc_64/lib/cmake/Qt5")
set(QGLVIEWER_INCLUDE_DIR "/home/user/3rdparty_lib/libQGLViewer-2.6.4/QGLViewer")
set(QGLVIEWER_LIBRARY_RELEASE "/home/user/3rdparty_lib/libQGLViewer-2.6.4/QGLViewer/libQGLViewer-qt5.so")

mkdir build

cd build

cmake ..

make -j4