高博14讲：第七讲中g20报错

ゞ浴缸里的玫瑰 2022-01-13 07:19 608阅读 0赞

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][https_blog.csdn.net_ykwjt_article_details_89394086]

[https_blog.csdn.net_ykwjt_article_details_89394086]: https://blog.csdn.net/ykwjt/article/details/89394086