《视觉SLAM十四讲》第7讲/第10讲 代码编译g2o初始化出错修改

我是从源码编译安装的g2o，因此是新的版本，API接口变了。以下针对新版本的g2o修改。
1. 第７讲
1.1 pose_estimation_3d3d.cpp片段
修改版本：

    // 初始化g2o
    typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose维度为 6, landmark 维度为 3
    //Block::LinearSolverType* linearSolver = new g2o::LinearSolverEigen<Block::PoseMatrixType>(); // 线性方程求解器
    std::unique_ptr<Block::LinearSolverType> linearSolver (new g2o::LinearSolverEigen<Block::PoseMatrixType>());
    //Block* solver_ptr = new Block( linearSolver );      // 矩阵块求解器
    std::unique_ptr<Block> solver_ptr (new Block (std::move(linearSolver)));
    g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( std::move(solver_ptr) );
    //g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( std::move(solver_ptr) );
    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm( solver );    

1.2 pose_estimation_3d2d.cpp片段
修改版本：

    // 初始化g2o
    typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose 维度为 6, landmark 维度为 3
    std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>()); // 线性方程求解器
    std::unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));     // 矩阵块求解器
    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( std::move(solver_ptr));
    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm ( solver );

原始版本：

　  // typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose 维度为 6, landmark 维度为 3
    // Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>(); // 线性方程求解器
    // Block* solver_ptr = new Block ( linearSolver );     // 矩阵块求解器
    // g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr );
    // g2o::SparseOptimizer optimizer;
    // optimizer.setAlgorithm ( solver );

2. 第10讲
2.1 g2o_bundle.cpp

#include <Eigen/StdVector>
#include <Eigen/Core>

#include <iostream>
#include <stdint.h>

#include <unordered_set>
#include <memory>
#include <vector>
#include <stdlib.h> 

#include "g2o/stuff/sampler.h"
#include "g2o/core/sparse_optimizer.h"
#include "g2o/core/block_solver.h"
#include "g2o/core/solver.h"
#include "g2o/core/robust_kernel_impl.h"
#include "g2o/core/batch_stats.h"
#include "g2o/core/optimization_algorithm_levenberg.h"
#include "g2o/core/optimization_algorithm_dogleg.h"

#include "g2o/solvers/cholmod/linear_solver_cholmod.h"
#include "g2o/solvers/dense/linear_solver_dense.h"
#include "g2o/solvers/eigen/linear_solver_eigen.h"
#include "g2o/solvers/pcg/linear_solver_pcg.h"
#include "g2o/types/sba/types_six_dof_expmap.h"

#include "g2o/solvers/structure_only/structure_only_solver.h"

#include "common/BundleParams.h"
#include "common/BALProblem.h"
#include "g2o_bal_class.h"


using namespace Eigen;
using namespace std;

typedef Eigen::Map<Eigen::VectorXd> VectorRef;
typedef Eigen::Map<const Eigen::VectorXd> ConstVectorRef;
typedef g2o::BlockSolver<g2o::BlockSolverTraits<9</