Ubuntu16.04安裝視覺SLAM環境（g2o）

1、首先在github上下載g2o圖優化庫

git clone https://github.com/RainerKuemmerle/g2o.git

2、運行安裝以下依賴庫

sudo apt-get install libcholmod3.0.6
sudo apt-get install libsuitesparse-dev
sudo apt-get install freeglut3 freeglut3-dev freeglut3-dbg
sudo apt-get install libqglviewer2 libqglviewer-dev libqglviewer-doc
sudo apt-get install libeigen3-dev libeigen3-doc

3、開始安裝g2o，先進入g2o的目錄內，然后開啟終端，依次運行下列命令：

mkdir build
cd build/
cmake ..
make
sudo make install

至此，g2o圖優化庫安裝完畢！