在网址 http://ftp.debian.org/debian/pool/main/libq/libqglviewer/，下载libqglviewer-dev-common_2.3.4-4.2_all.deb, libqglviewer-qt4-2_2.3.4-4.2_amd64.deb, libqglviewer-qt4-dev_2.3.4-4.2_amd64.deb
按照顺序依次安装：
sudo dpkg -i libqglviewer-dev-common_2.3.4*.deb
sudo dpkg -i libqglviewer-qt4-2_2.3.4-*.deb
sudo dpkg -i libqglviewer-qt4-dev_2.3.4-*.deb
问题 error
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/liblapack.so: undefined reference to `ATL_scopy'
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/liblapack.so: undefined reference to `ATL_stpsv'
......
......
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/liblapack.so: undefined reference to `ATL_zger2c'
collect2: error: ld returned 1 exit status
make[2]: *** [../bin/constant_velocity_target] Error 1
make[1]: *** [g2o/examples/target/CMakeFiles/constant_velocity_target.dir/all] Error 2
make: *** [all] Error 2
解决方案
sudo apt-get install libblas-dev liblapack-dev
下载liblapack-dev_3.5.0-2ubuntu1_amd64.deb安装
http://packages.ubuntu.com/trusty/amd64/liblapack-dev/download