深入理解图优化与g2o：g2o篇中g2o版本更新引起的错误修改

最新推荐文章于 2022-11-29 19:42:06 发布

纵横魔羯

最新推荐文章于 2022-11-29 19:42:06 发布

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文章标签： g2o

本文链接：https://blog.csdn.net/pangzilu520/article/details/81087577

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在学习高博的深入理解图优化与g2o：g2o篇中，由于g2o版本更新引起的错误，错误如下：

error: no matching function for call to 'g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType*&)'
  g2o::BlockSolver_6_3* block_solver = new g2o::BlockSolver_6_3( linearSolver );
/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> > > >'

 error: no matching function for call to 'g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::BlockSolver_6_3*&)'
 Levenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg( block_solver );
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::unique_ptr<g2o::Solver>)
       explicit OptimizationAlgorithmLevenberg(std::unique_ptr<Solver> solver);
                ^
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note:   no known conversion for argument 1 from 'g2o::BlockSolver_6_3* {aka g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >*}' to 'std::unique_ptr<g2o::Solver>'

源码为：

 // 构造g2o中的图
    // 先构造求解器
    g2o::SparseOptimizer    optimizer;
    // 使用Cholmod中的线性方程求解器
    g2o::BlockSolver_6_3::LinearSolverType* linearSolver = new  g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType> ();
    // 6*3 的参数
    g2o::BlockSolver_6_3* block_solver = new g2o::BlockSolver_6_3( linearSolver );
    // L-M 下降 
    g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg( block_solver );

修改为：

// 构造g2o中的图
    // 先构造求解器
    g2o::SparseOptimizer    optimizer;
    // 使用Cholmod中的线性方程求解器
        //g2o::BlockSolver_6_3::LinearSolverType* linearSolver = new  g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType> ();
    std::unique_ptr<g2o::BlockSolver_6_3::LinearSolverType> linearSolver = g2o::make_unique<g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>>();
    // 6*3 的参数
   std::unique_ptr <g2o::BlockSolver_6_3> block_solver ( new g2o::BlockSolver_6_3( std::move(linearSolver)) );
    // L-M 下降 
    g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg( std::move(block_solver) );

OK，至此程序修改完成。