G2O使用时遇到的一些编译问题

g2o::LinearSolverEigen g2o::LinearSolverDense g2o::LinearSolverCSparse g2o::LinearSolverCholmod是常用的线性方程求解器

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一套可运行程序(包括不同梯度下降优化器)链接: https://pan.baidu.com/s/1PyJ4kU3Jx6FGfWR23VzwfA 提取码: 3uw6

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使用需要三个地方注意

1.Cmakelist应当find了对应库，链接了这些线性方程求解器的lib，部分Cmakelist如下，当然PROJECT_SOURCE_DIR}/cmake_modules下得有两个对应的find文件。

list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
find_package( G2O REQUIRED )
include_directories( 
    ${G2O_INCLUDE_DIRS}
    "/usr/include/eigen3"
)
# CSparse
find_package( CSparse REQUIRED)
include_directories( ${CSPARSE_INCLUDE_DIR} )
 
target_link_libraries( curve_fitting 
    ${OpenCV_LIBS}
    g2o_core g2o_stuff g2o_types_sba  
    g2o_types_slam3d 
    g2o_solver_csparse g2o_csparse_extension
    cholmod g2o_solver_cholmod
)

2.头文件引用，这些绝对够了

#include <iostream>
#include <cmath>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <Eigen/SVD>
#include <g2o/core/base_vertex.h>
#include <g2o/core/base_unary_edge.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/optimization_algorithm_gauss_newton.h>
#include <g2o/core/optimization_algorithm_dogleg.h>
#include <g2o/core/solver.h>
#include <g2o/core/robust_kernel_impl.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/solvers/cholmod/linear_solver_cholmod.h>
#include <g2o/solvers/csparse/linear_solver_csparse.h>
#include <g2o/solvers/dense/linear_solver_dense.h>
#include <g2o/solvers/eigen/linear_solver_eigen.h>
#include <g2o/types/sba/types_six_dof_expmap.h>
#include <g2o/types/slam3d/types_slam3d.h>
#include <g2o/core/sparse_optimizer.h>
#include <g2o/core/factory.h>
#include <g2o/core/optimization_algorithm_factory.h>
#include <g2o/core/robust_kernel.h>
#include <g2o/core/robust_kernel_factory.h>
#include <chrono>

3.线性方程求解器使用

Block::LinearSolverType* linearSolver = new g2o::LinearSolverEigen<Block::PoseMatrixType>();// 线性方程求解器
Block::LinearSolverType* linearSolver = new g2o::LinearSolverCholmod<Block::PoseMatrixType>();
Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>();
Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>();