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使用的环境是ubuntu20.04

问题1.安装g2o没有问题，不过在编译整个项目工程时候报错：

”openmp_mutex.h: 30:10: fatal error: g2o/config.h: No such file or directory“:

解决办法：

只需要将/thirdparty/g2o/build/g2o下的config.h放到/thirdparty/g2o下：

问题2. No rule to make target ’gmock’，needed by '../bin/test_preintegration' . stop

src/ch4/CMakeFiles/test_preintegration.dir/all] Error 2：

解决办法：将/ch4/CmakeList.txt文件内容修改如下：

# 查找 Google Test，它应该也包含了 Google Mock
find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})
 
# 添加您的库
add_library(${PROJECT_NAME}.ch4
        gins_pre_integ.cc
        imu_preintegration.cc
        g2o_types.cc
)
 
# 添加您的测试可执行文件
add_executable(test_preintegration test_preintegration.cc)
 
# 链接 Google Test (它应该包含了 gmock) 以及其他依赖项
target_link_libraries(test_preintegration
        ${GTEST_BOTH_LIBRARIES}
        pthread glog gflags ${PROJECT_NAME}.ch4 ${PROJECT_NAME}.ch3 ${PROJECT_NAME}.common
)
 
# 添加测试
add_test(NAME test_preintegration COMMAND test_preintegration)
 
# 添加其他可执行文件
add_executable(run_gins_pre_integ run_gins_pre_integ.cc)
target_link_libraries(run_gins_pre_integ
        ${PROJECT_NAME}.ch3
        ${PROJECT_NAME}.ch4
        ${G2O_LIBS}

问题3.No rule to make target ’gmock’，needed by '../bin/test_nn' . stop

CMakeFiles/Makefile2:4227：src/ch5/CMakeFiles/test_nn.dir/all]

修改/ch5/CMakeList.txt 内容为:

find_package(GTest REQUIRED)
 
add_executable(point_cloud_load_and_vis point_cloud_load_and_vis.cc)
target_link_libraries(point_cloud_load_and_vis
        ${PCL_LIBRARIES}
        ${GLOG_LIBRARIES}
        gflags
        )
 
add_executable(pcd_to_bird_eye pcd_to_bird_eye.cc)
target_link_libraries(pcd_to_bird_eye
        ${PCL_LIBRARIES}
        ${GLOG_LIBRARIES}
        ${OpenCV_LIBS}
        gflags
        )
 
add_executable(scan_to_range_image scan_to_range_image.cc)
target_link_libraries(scan_to_range_image
        ${PCL_LIBRARIES}
        ${GLOG_LIBRARIES}
        ${OpenCV_LIBS}
        gflags
        )
 
add_library(${PROJECT_NAME}.ch5
        bfnn.cc
        kdtree.cc
        octo_tree.cc
        )
target_link_libraries(${PROJECT_NAME}.ch5
        tbb
        )
 
add_executable(linear_fitting linear_fitting.cc)
target_link_libraries(linear_fitting
        ${PCL_LIBRARIES}
        ${GLOG_LIBRARIES}
        ${OpenCV_LIBS}
        gflags
        )
 
add_executable(test_nn test_nn.cc)
add_test(NAME test_nn COMMAND test_nn)
 
target_link_libraries(test_nn
        GTest::GTest
        GTest::Main
        glog
        gflags
        ${PROJECT_NAME}.ch5
        ${PROJECT_NAME}.common
        ${PCL_LIBRARIES}
        tbb

参考博文：

https://blog.csdn.net/ht_lf/article/details/134185779