/home/lzp/slamtest/graduationcode/p3/poseestimation/pose_estimation_3d2d.cpp: In function ‘void bundleAdjustment(std::vector<cv::Point3_<float> >, std::vector<cv::Point_<float> >, const cv::Mat&, cv::Mat&, cv::Mat&)’:
/home/lzp/slamtest/graduationcode/p3/poseestimation/pose_estimation_3d2d.cpp:154:50: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType*&)’
Block* solver_ptr = new Block ( linearSolver ); // 矩陣塊求解器
^
/home/lzp/slamtest/graduationcode/p3/poseestimation/pose_estimation_3d2d.cpp:154:50: note: candidate is:
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/lzp/slamtest/graduationcode/p3/poseestimation/pose_estimation_3d2d.cpp:10:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: g2o::BlockSolver<Traits>::BlockSolver(std::unique_ptr<typename Traits::LinearSolverType>) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >]
BlockSolver<Traits>::BlockSolver(std::unique_ptr<LinearSolverType> linearSolver)
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType* {aka g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >*}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> > > >’
/home/lzp/slamtest/graduationcode/p3/poseestimation/pose_estimation_3d2d.cpp:155:104: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(Block*&)’
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr );
^
/home/lzp/slamtest/graduationcode/p3/poseestimation/pose_estimation_3d2d.cpp:155:104: note: candidate is:
In file included from /home/lzp/slamtest/graduationcode/p3/poseestimation/pose_estimation_3d2d.cpp:11:0:
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::unique_ptr<g2o::Solver>)
explicit OptimizationAlgorithmLevenberg(std::unique_ptr<Solver> solver);
^
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: no known conversion for argument 1 from ‘Block* {aka g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >*}’ to ‘std::unique_ptr<g2o::Solver>’
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o] 錯誤 1
make[1]: *** [CMakeFiles/pose_estimation_3d2d.dir/all] 錯誤 2
make: *** [all] 錯誤 2
g2o版本問題，換老版本即可。