第七章pose_estimation_3d3d

[Harry-Zhi]

高博您好， 在您第七章pose_estimation_3d3d 代码的295行， edge->setInformation( Eigen::Matrix3d::Identity()*1e4 ); 为何这里要给信息矩阵乘以1e4; 而在3d2d（也即PNP）的代码中，信息矩阵没有乘以这个系数。

不过就算去掉这里的1e4实验结果结果也不变，不晓得这里加这个系数有什么insights?

[mengkaitao]

出现错误，ch7的pose_estimation_3d3d编译出错，跟据网上各种方法没有解决，十分苦恼，还请大神解惑

[ 10%] Building CXX object CMakeFiles/pose_estimation_3d3d.dir/pose_estimation_3d3d.cpp.o /home/meng/slambook/ch7/pose_estimation3d3d.cpp: In function ‘void bundleAdjustment(const std::vector<cv::Point3 >&, const std::vector<cv::Point3_ >&, cv::Mat&, cv::Mat&)’: /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:269:54: error: ‘LinearSolverCSparse’ in namespace ‘g2o’ does not name a template type Block::LinearSolverType linearSolver = new g2o::LinearSolverCSpa ^ /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:269:95: error: expected primary-expression before ‘>’ token olver = new g2o::LinearSolverCSparse(); // 线 ^ /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:269:97: error: expected primary-expression before ‘)’ token ver = new g2o::LinearSolverCSparse(); // 线�� ^ /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:270:50: 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 ); // 矩阵块� ^ In file included from /usr/local/include/g2o/core/block_solver.h:199:0, from /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:11: /usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >] BlockSolver::BlockSolver(std::unique_ptr li ^ /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/meng/slambook/ch7/pose_estimation_3d3d.cpp:271:5: error: ‘OptimizationAlgorithmLevenberg’ is not a member of ‘g2o’ g2o::OptimizationAlgorithmLevenberg solver = new g2o::Optimizati ^ /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:271:42: error: ‘solver’ was not declared in this scope g2o::OptimizationAlgorithmLevenberg solver = new g2o::Optimizati ^ /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:271:55: error: expected type-specifier g2o::OptimizationAlgorithmLevenberg solver = new g2o::Optimizati ^ /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:315:66: error: ‘pose’ was not declared in this scope edge->setVertex( 0, dynamic_cast<g2o::VertexSE3Expmap*> (pose) ); ^ /home/meng/slambook/ch7/pose_estimation_3d3d.cpp:333:42: error: ‘pose’ was not declared in this scope cout<<"T="<<endl<<Eigen::Isometry3d( pose->estimate() ).matrix()<

[zhangxiaoya]

@mengkaitao 你这是g2o版本有问题吧，你看一下g2o的这个Issue206，作者给出可解决方法，切换老的版本就行了