【已解决】error: no matching function for call to ‘g2o::BlockSolver...

问题描述：

error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(roborts_local_planner::TebLinearSolver*&)’
   TebBlockSolver* blockSolver = new TebBlockSolver(linearSolver);
...
...
error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(roborts_local_planner::TebBlockSolver*&)’
   g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(blockSolver);

解决办法：
代码修改为：

  boost::shared_ptr<g2o::SparseOptimizer> optimizer = boost::make_shared<g2o::SparseOptimizer>();
  TebLinearSolver* linearSolver = new TebLinearSolver();
  linearSolver->setBlockOrdering(true);
  TebBlockSolver* blockSolver = new TebBlockSolver(std::unique_ptr<TebLinearSolver>(linearSolver));
  g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::unique_ptr<TebBlockSolver>(blockSolver));

参考：
《视觉SLAM十四讲》第六讲g2o实践代码报错解决方法