SLAM学习记录

Ubuntu16.04使用g2o库（SLAM十四讲跑例程报错）

2018.11.27

错误一

本人的g2o库已经安装过了，跑g2o优化的代码的时候，可以正常运行，当我跑PnP求解的代码时，出现如下错误：

CMakeFiles/slamEnd.dir/slamEnd.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)': 
/opt/ros/indigo/include/g2o/solvers/csparse/linear_solver_csparse.h:126: undefined reference to `g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)' 
/opt/ros/indigo/include/g2o/solvers/csparse/linear_solver_csparse.h:130: undefined reference to `g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)' 
CMakeFiles/slamEnd.dir/slamEnd.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)': 
/opt/ros/indigo/include/g2o/solvers/csparse/linear_solver_csparse.h:171: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)' 
CMakeFiles/slamEnd.dir/slamEnd.cpp.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
/opt/ros/indigo/include/g2o/solvers/csparse/linear_solver_csparse.h:208: undefined reference to `g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)'

在网上看到说可能是安装g2o之前没有安装libsuitesparse-dev，然后我就执行了一下：

sudo apt-get install libsuitesparse-dev

提示已经安装了，但是请大家务必先卸载libsuitesparse-dev：

apt-get --purge remove  libsuitesparse-dev 

然后再重新安装一次，安装过后，重新编译g2o进行安装，会发现问题就解决了。

错误二

随后再运行的时候依旧报错：

/home/stiles/Desktop/slambook-master/ch7/pose_estimation_3d2d.cpp: In function ‘void bundleAdjustment(std::vector<cv::Point3_<float> >, std::vector<cv::Point_<float> >, const cv::Mat&, cv::Mat&, cv::Mat&)’:
/home/stiles/Desktop/slambook-master/ch7/pose_estimation_3d2d.cpp:153:50: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType*&)’
     Block* solver_ptr = new Block ( linearSolver );     // 矩阵块求解器
                                                       ^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
                 from /home/stiles/Desktop/slambook-master/ch7/pose_estimation_3d2d.cpp:10:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver<Traits>::BlockSolver(std::unique_ptr<typename Traits::LinearSolverType>) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >]
 BlockSolver<Traits>::BlockSolver(std::unique_ptr<LinearSolverType> linearSolver)
 ^
 /usr/local/include/g2o/core/block_solver.hpp:40:1: note:   no known conversion for argument 1 from ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType* {aka g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >*}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> > > >’
/home/stiles/Desktop/slambook-master/ch7/pose_estimation_3d2d.cpp:156:106: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(Block*&)’
     g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg (( solver_ptr ));

点击一下错误提示，会看到错误在下面这两行代码处：

Block* solver_ptr = new Block(linearSolver);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg (( solver_ptr )); 

根据错误提示，我们可以看到BlockSolver(std::unique_ptr linearSolver)是这样构造的，而源代码里面是Block* solver_ptr = new Block(linearSolver)这样构造的，后面的g2o::OptimizationAlgorithmLevenberg* solver查看源码会发现也是使用std::unique_ptr作为参数进行构造的，所以就将前面两行构造的代码改为：

std::unique_ptr<Block::LinearSolverType> linearSolver(new g2o::LinearSolverCSparse<Block::PoseMatrixType>()); 
std::unique_ptr<Block> solver_ptr(new Block ( linearSolver )); 

再编译一次发现依旧有问题，可能还是构造参数的原因，仔细看一下g2o源码会发现：

其传递std::unique_ptr参数是使用std::move( xxx )来进行传递的，所以将涉及到传参的两行代码进一步修改：
整个过程主要改了上面三行代码，最终程序终于编译通过！
后面可以查一下std::unique_ptr、std::move相关的只是进行学习。