How to use g2o framework for Graph Optimization (SLAM) on windows?

Question

I'm working on a graph slam project and i want to use g2o framework ( https://github.com/RainerKuemmerle/g2o ) de develop the application using visual studio 2010. This framework works primarly on linux but it can be used for windows as well.

Could any one tell me how to use with visual studio

Thank you,

Regards

Answer 1

You can use it in Windows because all requirements have a port to Visual Studio.

• cmake http://www.cmake.org/
• Eigen3 http://eigen.tuxfamily.org
• suitesparse http://www.cise.ufl.edu/research/sparse/SuiteSparse/
• Qt4 http://qt.nokia.com/
• libQGLViewer http://www.libqglviewer.com/

Our primary development platform is Linux. Experimental support for Mac OS X and Windows (MinGW or MSVC). We recommend a so-called out of source build which can be achieved by the following command sequence. (1)

Use cmake to build it.

Answer 2

I remember having some issues with building g2o on Windows. But the CMake should work well. Just configure, generate, and you can open the solution with Visual Studio and build. If it says "Configuring Done", it should compile. Eigen3 is sometimes tough to find for CMake, as their find script is not officially distributed with CMake (yet).

You can run (assuming you are in g2o/trunk/build folder, hence .. ):

cmake .. -DCMAKE_MODULE_PATH=/path/to/a/dir/containing_the_FindEigen3.cmake_file/

There are also other libraries that solve graph problems efficiently, such as SLAM++ , iSAM or GTSAM , they compile on Windows with less problems.