高博14讲：第七讲中g20报错

高博14讲：第七讲中g20 3d3d 3d2d 报错的改动

原因：g2o版本更新引起的错误修改

3d3d报错：

/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp: In function ‘void bundleAdjustment(const std::vector<cv::Point3_<float> >&, const std::vector<cv::Point3_<float> >&, cv::Mat&, cv::Mat&)’:
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:280:74: error: ‘LinearSolverCSparse’ in namespace ‘g2o’ does not name a template typestd::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolve^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:280:115: error: expected primary-expression before ‘>’ tokenverType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>());^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:280:117: error: expected primary-expression before ‘)’ tokenverType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>());^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:287:9: error: ‘OptimizationAlgorithmLevenberg’ is not a member of ‘g2o’g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgo^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:287:46: error: ‘solver’ was not declared in this scopeg2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgo^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:287:59: error: expected type-specifierg2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgo^
CMakeFiles/pose_estimation_3d3d.dir/build.make:62: recipe for target 'CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o' failed
make[2]: *** [CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/pose_estimation_3d3d.dir/all' failed
make[1]: *** [CMakeFiles/pose_estimation_3d3d.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

将pose_estimation_3d3d.cpp中的 bundleAdjustment() 函数中初始g2o修改一下：

原始代码：

    typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose维度为 6, landmark 维度为 3Block::LinearSolverType* linearSolver = new g2o::LinearSolverEigen<Block::PoseMatrixType>(); // 线性方程求解器Block* solver_ptr = new Block( linearSolver );      // 矩阵块求解器g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( solver_ptr );g2o::SparseOptimizer optimizer;optimizer.setAlgorithm( solver );

修改为：

    typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose维度为 6, landmark 维度为 3// Block::LinearSolverType* linearSolver = new g2o::LinearSolverEigen<Block::PoseMatrixType>(); // 线性方程求解器std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolverEigen<Block::PoseMatrixType>());//Block* solver_ptr = new Block( linearSolver );      // 矩阵块求解器std::unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));//g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( solver_ptr );g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton ( std::move(solver_ptr));g2o::SparseOptimizer optimizer;optimizer.setAlgorithm( solver );

将pose_estimation_3d2d.cpp中的 bundleAdjustment() 函数中初始g2o修改一下：

原始代码：

    typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose 维度为 6, landmark 维度为 3Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>(); // 线性方程求解器Block* solver_ptr = new Block ( linearSolver );     // 矩阵块求解器g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr );g2o::SparseOptimizer optimizer;optimizer.setAlgorithm ( solver );

修改为;

     typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose 维度为 6, landmark 维度为 3//Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>(); // 线性方程求解器std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>());//Block* solver_ptr = new Block ( linearSolver );//std::unique_ptr<Block> solver_ptr ( new Block ( linearSolver));std::unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));     // 矩阵块求解器//g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr);g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( std::move(solver_ptr));g2o::SparseOptimizer optimizer;optimizer.setAlgorithm ( solver );

参考：https://blog.csdn.net/ykwjt/article/details/89394086

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