高博14讲：第七讲中g20报错

高博14讲：第七讲中g20 3d3d 3d2d 报错的改动

原因：g2o版本更新引起的错误修改

3d3d报错：

/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp: In function ‘void bundleAdjustment(const std::vector<cv::Point3_<float> >&, const std::vector<cv::Point3_<float> >&, cv::Mat&, cv::Mat&)’:
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:280:74: error: ‘LinearSolverCSparse’ in namespace ‘g2o’ does not name a template type
    std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolve
                                                                     ^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:280:115: error: expected primary-expression before ‘>’ token
 verType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>());
                                                                           ^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:280:117: error: expected primary-expression before ‘)’ token
 verType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>());
                                                                             ^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:287:9: error: ‘OptimizationAlgorithmLevenberg’ is not a member of ‘g2o’
         g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgo
         ^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:287:46: error: ‘solver’ was not declared in this scope
         g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgo
                                              ^
/home/yk/桌面/slambook-master/ch7/pose_estimation_3d3d.cpp:287:59: error: expected type-specifier
         g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgo
                                                           ^
CMakeFiles/pose_estimation_3d3d.dir/build.make:62: recipe for target 'CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o' failed
make[2]: *** [CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/pose_estimation_3d3d.dir/all' failed
make[1]: *** [CMakeFiles/pose_estimation_3d3d.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

将pose_estimation_3d3d.cpp中的 bundleAdjustment() 函数中初始g2o修改一下：

原始代码：

    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
    Block* solver_ptr = new Block( linearSolver );      // 矩阵块求解器


    g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( solver_ptr );
    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm( solver );

修改为：

    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( solver_ptr );
    g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton ( std::move(solver_ptr));

    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm( solver );

将pose_estimation_3d2d.cpp中的 bundleAdjustment() 函数中初始g2o修改一下：

原始代码：

    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 );

修改为;

     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
     std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>());

     //Block* solver_ptr = new Block ( linearSolver );
     //std::unique_ptr<Block> solver_ptr ( new Block ( linearSolver));
     std::unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));     // 矩阵块求解器

     //g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr);
     g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( std::move(solver_ptr));

     g2o::SparseOptimizer optimizer;

     optimizer.setAlgorithm ( solver );

参考：https://blog.csdn.net/ykwjt/article/details/89394086