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g2o interface change ,old one not use #85

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g2o interface change ,old one not use #85

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9 changes: 5 additions & 4 deletions ch6/g2o_curve_fitting/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,10 +73,11 @@ int main( int argc, char** argv )

// 构建图优化，先设定g2o
typedef g2o::BlockSolver< g2o::BlockSolverTraits<3,1> > Block; // 每个误差项优化变量维度为3，误差值维度为1
Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>(); // 线性方程求解器
Block* solver_ptr = new Block( linearSolver ); // 矩阵块求解器
auto linearSolver = g2o::make_unique<g2o::LinearSolverDense<Block::PoseMatrixType>>();// 线性方程求解器
auto blockSolver = g2o::make_unique<Block>(std::move(linearSolver));// 矩阵块求解器

// 梯度下降方法，从GN, LM, DogLeg 中选
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( solver_ptr );
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver));
// g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( solver_ptr );
// g2o::OptimizationAlgorithmDogleg* solver = new g2o::OptimizationAlgorithmDogleg( solver_ptr );
g2o::SparseOptimizer optimizer; // 图模型
Expand Down Expand Up @@ -114,4 +115,4 @@ int main( int argc, char** argv )
cout<<"estimated model: "<<abc_estimate.transpose()<<endl;

return 0;
}
}