高博14讲：第七讲

爱被打了一巴掌 2022-10-02 04:54 148阅读 0赞

### 编译并运行： ###

sudo mkdir build # 创建build文件夹
    
    cd build
    
    sudo cmake ..

### 报错1： ###

Could NOT find CSPARSE (missing:  CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY) 
    CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
    Please set them or make sure they are set and tested correctly in the CMake files:
    CSPARSE_INCLUDE_DIR

### 解决方法： ###

在终端运行： sudo apt-get install libsuitesparse-dev 安装相关依赖包。

### 重新编译：  ###

sudo clean
    
    sudo cmake ..
    
    sudo make

### 报错2： ###

[ 10%] Building CXX object CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o
    /home/zqzy/learn-slam/ch7/pose_estimation_3d3d.cpp:9:34: fatal error: g2o/core/base_vertex.h: No such file or directory
    compilation terminated.
    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

### **解决方案：** ###

产生这个错误的原因是g2o没有安装，安装即可。

git clone https://github.com/RainerKuemmerle/g2o.git
    cd g2o
    mkdir build
    cd build
    cmake ..
    make
    sudo make install

### 重新编译：  ###

sudo clean
    
    sudo cmake ..
    
    sudo make

### 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

### **解决方案：** ###

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 );

###  编译并运行： ###

sudo clean
    
    sudo cmake ..
    
    sudo make
    
    cd ..
    
    ./build/feature_extraction 1.png 2.png

运行截图：

特征点图：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3podWlxaXV6aHVveXVlNTgz_size_16_color_FFFFFF_t_70][]

所有匹配点对：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3podWlxaXV6aHVveXVlNTgz_size_16_color_FFFFFF_t_70 1][]

优化后匹配点对：  
![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3podWlxaXV6aHVveXVlNTgz_size_16_color_FFFFFF_t_70 2][]

参考：

[https://blog.csdn.net/github\_39611196/article/details/81146323][https_blog.csdn.net_github_39611196_article_details_81146323]

[https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/92569771][https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_92569771]

[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3podWlxaXV6aHVveXVlNTgz_size_16_color_FFFFFF_t_70]: /images/20220113/a53b145df02b42fa9f03d2ca10a79cae.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3podWlxaXV6aHVveXVlNTgz_size_16_color_FFFFFF_t_70 1]: /images/20220113/8f54c2881b57414f8474ea335d6413ee.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3podWlxaXV6aHVveXVlNTgz_size_16_color_FFFFFF_t_70 2]: /images/20220113/f90ed3d87a7d44aabec55ec77e5ab117.png
[https_blog.csdn.net_github_39611196_article_details_81146323]: https://blog.csdn.net/github_39611196/article/details/81146323
[https_blog.csdn.net_zhuiqiuzhuoyue583_article_details_92569771]: https://blog.csdn.net/zhuiqiuzhuoyue583/article/details/92569771