《一起学习rgbdSLAM》中g2o部分报错的问题

我不是女神ヾ 2022-04-10 06:53 799阅读 0赞

在高博的《一起学习rgbdSLAM》第六讲中使用到了g2o工具。但是由于版本问题，按照高博的写法来编写代码在编译过程中会报错。所以需要对该部分代码稍作修改。

我使用的系统是ubuntu16.04。

## 教程中的源代码 ##

// 选择优化方法
        typedef g2o::BlockSolver_6_3 SlamBlockSolver; 
        typedef g2o::LinearSolverEigen< SlamBlockSolver::PoseMatrixType > SlamLinearSolver; 
        // 初始化求解器
        SlamLinearSolver* linearSolver = new SlamLinearSolver();
        linearSolver->setBlockOrdering( false );
        SlamBlockSolver* blockSolver = new SlamBlockSolver( linearSolver );
        g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( blockSolver );
    
        g2o::SparseOptimizer globalOptimizer;  // 最后用的就是这个东东
        globalOptimizer.setAlgorithm( solver );

## 编译结果 ##

/home/andy_zhang/my_workspace/Slam/my_slam/RGB_D_SLAM/src/slamend.cpp:82:70: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(SlamLinearSolver*&)’
         SlamBlockSolver* blockSolver = new SlamBlockSolver( linearSolver );
                                                                          ^
    In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
                     from /home/andy_zhang/my_workspace/Slam/my_slam/RGB_D_SLAM/src/slamend.cpp:18:
    /usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver<Traits>::BlockSolver(std::unique_ptr<typename Traits::LinearSolverType>) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >]
     BlockSolver<Traits>::BlockSolver(std::unique_ptr<LinearSolverType> linearSolver
     ^
    /usr/local/include/g2o/core/block_solver.hpp:40:1: note:   no known conversion for argument 1 from ‘SlamLinearSolver* {aka g2o::LinearSolverEigen<Eigen::Matrix<double, 6, 6, 0> >*}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> > > >’
    /home/andy_zhang/my_workspace/Slam/my_slam/RGB_D_SLAM/src/slamend.cpp:83:104: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(SlamBlockSolver*&)’
     ithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( blockSolver );
    ....

参考其他博主的建议进行了修改但是仍然没有成功。  
[https://blog.csdn.net/robinhjwy/article/details/78084210][https_blog.csdn.net_robinhjwy_article_details_78084210]  
[https://blog.csdn.net/pangzilu520/article/details/81087577][https_blog.csdn.net_pangzilu520_article_details_81087577]  
[https://blog.csdn.net/robinhjwy/article/details/78084210][https_blog.csdn.net_robinhjwy_article_details_78084210]

束手无策之时突然想起可以参考g2o文档中的示例程序进行修改，没想到还真成功了！

根据～/g2o-master/g2o/examples/simple\_optimize/文件下的示例程序将代码修改为一下形式：

auto linearSolver = g2o::make_unique<LinearSolverCSparse<BlockSolverX::PoseMatrixType>>();
    linearSolver->setBlockOrdering(false);
    auto blockSolver = g2o::make_unique<BlockSolverX>(std::move(linearSolver));
    g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver));
    
    g2o::SparseOptimizer globalOptimizer; 
    globalOptimizer.setAlgorithm( algorithm );

不要忘记添加相应的头文件:

#include <g2o/types/slam3d/types_slam3d.h>
    #include <g2o/core/sparse_optimizer.h>
    #include <g2o/core/block_solver.h>
    #include <g2o/core/factory.h>
    #include <g2o/core/optimization_algorithm_factory.h>
    #include <g2o/core/optimization_algorithm_gauss_newton.h>
    #include <g2o/core/robust_kernel.h>
    #include <g2o/core/robust_kernel_factory.h>
    #include <g2o/core/optimization_algorithm_levenberg.h>
    #include <g2o/solvers/eigen/linear_solver_eigen.h>
    #include <g2o/solvers/csparse/linear_solver_csparse.h>

编译之后完美通过：  
![在这里插入图片描述][20181228142937222.png]

[https_blog.csdn.net_robinhjwy_article_details_78084210]: https://blog.csdn.net/robinhjwy/article/details/78084210
[https_blog.csdn.net_pangzilu520_article_details_81087577]: https://blog.csdn.net/pangzilu520/article/details/81087577
[20181228142937222.png]: /images/20220402/2369514e348549bca975d6195c981627.png