g2o报错修改

报错1：LinearSolverDense’ in namespace ‘g2o’ does not name a template type

std::unique_ptr<Block::LinearSolverType> linearSolver(new g2o::LinearSolverDense<Block::PoseMatrixType>());
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报错：

error: ‘LinearSolverDense’ in namespace ‘g2o’ does not name a template type; did you mean ‘LinearSolverCSparse’?

头文件中加入

#include 
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报错2：‘VertexSBAPointXYZ’ is not a member of ‘g2o’

error: ‘VertexSBAPointXYZ’ is not a member of ‘g2o’; did you mean ‘VertexPointXYZ’?

在ch7中出现的就以下几处（建议是自行搜索）

全部改成VertexPointXYZ

报错3：error: no matching function for call to ‘g2o::BlockSolver >::BlockSolver(g2o::BlockSolver >::LinearSolverType*&)’

#报错中的这句是没毛病的
typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block 

#有毛病的是这两句
Block::LinearSolverType* linearSolver = new g2o::LinearSolverEigen<Block::PoseMatrixType>(); // 线性方程求解器
Block* solver_ptr = new Block( linearSolver );

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改称

std::unique_ptr<Block::LinearSolverType> linearSolver(new g2o::LinearSolverDense<Block::PoseMatrixType>()); // 线性方程求解器
std::unique_ptr<Block> solver_ptr (new Block(std::move(linearSolver)));

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报错4：error: no matching function for call to ‘g2o::OptimizationAlgorithmGaussNewton::OptimizationAlgorithmGaussNewton(std::unique_ptr > >&)’

#有毛病的是这句
g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( solver_ptr );
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改成

g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton(std::move(solver_ptr));
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报错5：不报红 但是 make: *** [Makefile:84: all] Error 2 *** Failure: Exit code 2 ***

没有输入参数
按照课本输入

build/feature_extraction 1.png 2.png
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报了个

usage: feature_extraction img1 img2
*** Failure: Exit code 1 ***

代表路径出问题了,建议是图片改成绝对路径，其次是不需要加build/feature_extraction
就像这样：

/home/evening/slam/slambook-master/ch7/1.png  /home/evening/slam/slambook-master/ch7/2.png
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至于3D-2D的参数就是：

/home/evening/slam/slambook-master/ch7/1.png  /home/evening/slam/slambook-master/ch7/2.png /home/evening/slam/slambook-master/ch7/1_depth.png /home/evening/slam/slambook-master/ch7/2_depth.png
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报错6：undefined reference to google…

/usr/bin/ld: CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o: undefined reference to symbol ‘_ZTVN3g2o14VertexPointXYZE’

【参考文章】：SLAM十四讲ch7代码调整（undefined reference to symbol）

feature_extraction.cpp

代码和课本的不一样但是不影响都是ok的

		Ptr<FeatureDetector> detector = ORB::create();
    Ptr<DescriptorExtractor> descriptor = ORB::create();
    // Ptr<FeatureDetector> detector = FeatureDetector::create(detector_name);
    // Ptr<DescriptorExtractor> descriptor = DescriptorExtractor::create(descriptor_name);
    Ptr<DescriptorMatcher> matcher  = DescriptorMatcher::create ( "BruteForce-Hamming" );

    //-- 第一步:检测 Oriented FAST 角点位置
    detector->detect ( img_1,keypoints_1 );
    detector->detect ( img_2,keypoints_2 );

    //-- 第二步:根据角点位置计算 BRIEF 描述子
    descriptor->compute ( img_1, keypoints_1, descriptors_1 );
    descriptor->compute ( img_2, keypoints_2, descriptors_2 );

    Mat outimg1;
    drawKeypoints( img_1, keypoints_1, outimg1, Scalar::all(-1), DrawMatchesFlags::DEFAULT );
    imshow("ORB特征点",outimg1);

    //-- 第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离
    vector<DMatch> matches;
    //BFMatcher matcher ( NORM_HAMMING );
    matcher->match ( descriptors_1, descriptors_2, matches );
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课本部分代码：

Ptr<ORB> orb=ORB::create(500,1.2F,8,31,0,2,ORB::HARRIS_SCORE,31,20);
orb->detect ( img_1,keypoints_1 );
orb->detect ( img_2,keypoints_2 );

//-- 第二步:根据角点位置计算 BRIEF 描述子
orb->compute ( img_1, keypoints_1, descriptors_1 );
orb->compute ( img_2, keypoints_2, descriptors_2 );

Mat outimg1;
drawKeypoints( img_1, keypoints_1, outimg1, Scalar::all(-1), DrawMatchesFlags::DEFAULT );
imshow("ORB特征点",outimg1);

//-- 第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离
vector<DMatch> matches;
BFMatcher matcher ( NORM_HAMMING );
matcher.match ( descriptors_1, descriptors_2, matches );
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和ORB应该是乱七八糟的继承关系，但不是重点
代码部分：创建ORB检测子，描述子，匹配子的方式

	Ptr<FeatureDetector> detector = ORB::create();
    Ptr<DescriptorExtractor> descriptor = ORB::create();
    Ptr<DescriptorMatcher> matcher  = DescriptorMatcher::create ( "BruteForce-Hamming" );
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error: ‘OptimizationAlgorithmGaussNewton’ is not a member of ‘g2o’; did you mean ‘OptimizationAlgorithmProperty’?

g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton(std::move(solver_ptr));
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会报错！！