ubuntu 14 编译ARM g2o-20160424

1. 安装eigen

sudo apt-get install libeigen3-dev

sudo apt-get install libsuitesparse-dev
sudo apt-get install libqglviewer-dev

对于ARM版本，可以下载http://eigen.tuxfamily.org，之后放置在toolchain可以找到的三方库位置处，我使用的是eigne-3.2.8,这个版本需要qt4支持不是qt5

之后指明toolchain.cmake就可以顺利编译

#toolchain cmake file 
SET(CMAKE_SYSTEM_NAME Linux)

SET(TOOLCHAIN_DIR "/home/xx/softwares/gcc-linaro-arm-linux-gnueabihf-4.9-2014.09_linux")
SET(3RDPART_LIBS_DIR "/home/xx/install")

#specify the cross compiler
SET(CMAKE_C_COMPILER ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-gcc CACHE FILEPATH "Archiver")
SET(CMAKE_CXX_COMPILER ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-g++ CACHE FILEPATH "Archiver")
#SET(CMAKE_GFORTRAN  ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-gfortran)
SET(CMAKE_AR ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-ar CACHE FILEPATH "Archiver")
SET(CMAKE_AS ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-as CACHE FILEPATH "Archiver")
SET(CMAKE_LD  ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-ld CACHE FILEPATH "Archiver")
SET(CMAKE_NM ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-nm CACHE FILEPATH "Archiver")
SET(CMAKE_STRIP  ${TOOLCHAIN_DIR}/bin/arm-linux-gnueabihf-strip CACHE FILEPATH "Archiver")# where is the target environment 
SET(CMAKE_FIND_ROOT_PATH  ${TOOLCHAIN_DIR} ${3RDPART_LIBS_DIR})# search for programs in the build host directories
SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
# for libraries and headers in the target directories
SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)