The Lib_ZY is a library writed by Yong.Zhao, and it includes some usful tools for C++ programing espesially in the areas of moblile robotics and computer vision.
git clone https://github.com/zdzhaoyong/Lib_ZY
base <- pthread TooN(optional)
bundle_adjust <- g2o eigen TooN
cv <- opencv rtk++ eigen
hardware <- qt rtk++
internet <- rtk++
opengl <- QglViewer(QT OPENGL)
Read the compiling instructions.