));报错)
因为版本差异
auto solver = new g2o::OptimizationAlgorithmGaussNewton( g2o::make_unique<BlockSolverType>(g2o::make_unique<LinearSolverType>())); 报错
替换代码为
点击查看代码
//定义块求解器：位姿维度6，路标维度3（此处路标固定，仅优化位姿)typedef g2o::BlockSolver<g2o::BlockSolverTraits<6,3>>BlockSolverType;//定义线性求解器：愁摩线性求解器，对应块求解器的位姿矩阵类型typedef g2o::LinearSolverDense<BlockSolverType::PoseMatrixType>LinearSolverType;//构建优化算法：高斯牛顿法（可替换为LM DOGLEG)auto linear_solver=std::make_unique<LinearSolverType>();auto blockSolver=std::make_unique<BlockSolverType>(std::move(linear_solver));auto solver=std::make_unique<g2o::OptimizationAlgorithmGaussNewton>(std::move(blockSolver));g2o::SparseOptimizer optimizer;optimizer.setAlgorithm(solver.release());optimizer.setVerbose(true);