g2o学习：实践GraphSLAM_tutorials_code及报错解决

版权声明：本文为博主原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接和本声明。

本文链接： https://blog.csdn.net/Discoverhfub/article/details/96598694

先看g2o代码效果

g2o优化后

首先是g2o库安装（在文末）
下载代码：(GraphSLAM_tutorials_code代码，编译过程的错误已修改解决)
GraphSLAM_tutorials_code代码编译

mkdir build
cd build
cmake ..
make

运行：

cd ..
cd bin/
./g2o_test   (在data文件夹生成一个sphere_after.g2o)

g2o_viewer查看：

cd ..
cd data/
g2o_viewer sphere_bignoise_vertex3.g2o 　　（这是优化前）

g2o_viewer sphere_after.g2o 

---

出现指针问题：

/home/～/code/GraphSLAM_tutorials_code/g2o_test/main.cpp:26:62: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::LinearSolverType*&)’
BlockSolverX* blockSolver = new BlockSolverX(linearSolver);

---

error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::BlockSolverX*&)’
nberg* optimizationAlgorithm = new OptimizationAlgorithmLevenberg(blockSolver);

---

原因：指针的初始化不符合函数要求，unique_ptr“唯一”拥有其所指对象，同一时刻只能有一个unique_ptr指向给定对象（通过禁止拷贝语义、只有移动语义来实现）。

解决：
第２６行

BlockSolverX* blockSolver = new BlockSolverX(linearSolver);
修改为
BlockSolverX* blockSolver = new BlockSolverX(std::unique_ptr<BlockSolverX::LinearSolverType>(linearSolver) );

２９行

OptimizationAlgorithmLevenberg* optimizationAlgorithm = new OptimizationAlgorithmLevenberg(blockSolver);

修改为：
OptimizationAlgorithmLevenberg* optimizationAlgorithm = new OptimizationAlgorithmLevenberg(unique_ptr<BlockSolverX>(blockSolver));

---

g2o库安装

依赖项：

sudo apt-get install libeigen3-dev libsuitesparse-dev libqt4-dev qt4-qmake libqglviewer-qt4-dev  

接着把g2o代码下载到相应文件夹里
g2o安装源码下载
编译和安装

mkdir build  
cd build  
cmake ../  
make