G2O

slam十四讲：g20代码运次错误

error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<3, 1> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<3, 1> >::LinearSolverType*&)’
Block* solver_ptr = new Block( linearSolver );
双击报错内容，定位到报错代码位置，修改代码：

typedef g2o::BlockSolver< g2o::BlockSolverTraits<3,1> > Block;
Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>();
Block* solver_ptr = new Block( std::unique_ptr<Block::LinearSolverType>(linearSolver) );
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::unique_ptr<Block>(solver_ptr) );
g2o::SparseOptimizer optimizer;   
optimizer.setAlgorithm( solver );   
optimizer.setVerbose( true ); 

参考链接：https://www.cnblogs.com/xueyuanaichiyu/p/7921382.html

g2o CmakeLists.txt 写法：

方法1：

set( CMAKE_CXX_FLAGS "-std=c++11" )
list(APPEND CMAKE_MODULE_PATH  /home/XXX/g2o/cmake_modules)
  set(G2O_ROOT /home/XXX/g2o)
  find_package( G2O REQUIRED )
  include_directories(
        ${G2O_INCLUDE_DIRS}
        "/usr/include/eigen3" )

方法2：

CMAKELIsts.txt:
set( CMAKE_CXX_FLAGS "-std=c++11" )
list( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules )
# 寻找G2O
#不使用 find_package( G2O REQUIRED )命令，否则会报错。
find_package( G2O )
include_directories( 
    ${G2O_INCLUDE_DIRS}
    "/usr/include/eigen3"
)
# OpenCV
find_package( OpenCV REQUIRED )
include_directories( ${OpenCV_DIRS} )
add_executable( curve_fitting main.cpp )
# 与G2O和OpenCV链接
target_link_libraries( curve_fitting 
    ${OpenCV_LIBS}
    g2o_core g2o_stuff
)

参考链接：https://blog.csdn.net/zhiwei121/article/details/89053469