在高博视觉slam十四讲中的第6讲中实践g2o中出现了编译错误。

在高博视觉slam十四讲中的第6讲中实践g2o中出现了编译错误。

/home/ze/am/slambook-master/ch6/g2o_curve_fitting/main.cpp:77:49: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<3, 1> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<3, 1> >::LinearSolverType*&)’
     Block* solver_ptr = new Block( linearSolver );      // 矩阵块求解器

   通过查找百度查询，看到一篇博客展现了也是在编译高博视觉slam十四讲g2o环节出现问题的解决方案，http://blog.csdn.net/robinhjwy/article/details/78084210模仿这位作者的解决过程，修改了我的代码，

typedef g2o::BlockSolver<g2o::BlockSolverTraits<3,1> > Block;  // 每个误差项优化变量维度为3，误差值维度为1
std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolverDense<Block::PoseMatrixType>());
//Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>(); // 线性方程求解器
std::unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));
//Block* solver_ptr = new Block( linearSolver );      // 矩阵块求解器
// 梯度下降方法，从GN, LM, DogLeg 中选
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( std::move(solver_ptr));
//g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( solver_ptr );

 

然后就编译成功了。

/home/ze/slam/slambook-master/ch6/g2o_curve_fitting/build> make -j4
[100%] Built target curve_fitting
*** Finished ***