高博14讲：第七讲中g20 3d3d 3d2d 报错的改动

最新推荐文章于 2024-04-09 10:23:48 发布

原创

最新推荐文章于 2024-04-09 10:23:48 发布 · 2.6k 阅读

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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::O