qq_40267214的博客

ADD_EXECUTABLE( visualOdometry visualOdometry.cpp)TARGET_LINK_LIBRARIES( visualOdometry slambase ${OpenCV_LIBS} ${PCL_LIBRARIES} ${CSPARSE_LIBRARY} ${Sophus_LIBRARIES} g2o_c...

我参考了这两篇博客https://blog.csdn.net/gaiyonghuming110/article/details/102721606https://matheecs.github.io/buglists/#%E7%BC%96%E8%AF%91%E5%99%A8%E4%BC%98%E5%8C%96我出现这个问题的原因是pnp进行时 匹配的点太少了...

参考链接https://blog.csdn.net/u010003609/article/details/68961293亲测有效

我参考了以下两个答主博客ceres：https://blog.csdn.net/weixin_39373577/article/details/81285420g2o:https://blog.csdn.net/Coderii/article/details/87606036