Vector 4D not defined in the scope

[zouyajing]

I got several error message in pnpl.cpp. It seems that after the line
typedef Eigen::Matrix<double,6,1,Eigen::ColMajor> Vector6D;
Vector4D 3D 2D shoule also be defined.

After I fixed this, I got problems with the API of G2O. So I changed to link an early version G2O, and it is OK now.

/home/rick/SLAMProjects/PnPL/src/pnpl.cpp: In function ‘void PnPL(const std::vector<cv::Point3_ >&, const std::vector<cv::Point_ >&, const std::vector<cv::Vec<float, 6> >&, const std::vector<cv::Vec<float, 4> >&, const cv::Mat&, cv::Mat&, cv::Mat&)’:
/home/rick/SLAMProjects/PnPL/src/pnpl.cpp:143:78: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType*&)’
g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/rick/SLAMProjects/PnPL/src/pnpl.cpp:4:
/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 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/rick/SLAMProjects/PnPL/src/pnpl.cpp:144:101: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::BlockSolver_6_3&)’
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
^
In file included from /home/rick/SLAMProjects/PnPL/src/pnpl.cpp:7:0:
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::unique_ptrg2o::Solver)
explicit OptimizationAlgorithmLevenberg(std::unique_ptr solver);
^
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: no known conversion for argument 1 from ‘g2o::BlockSolver_6_3* {aka g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >*}’ to ‘std::unique_ptrg2o::Solver’
CMakeFiles/demo_pnpl.dir/build.make:86: recipe for target 'CMakeFiles/demo_pnpl.dir/src/pnpl.cpp.o' failed
make[2]: *** [CMakeFiles/demo_pnpl.dir/src/pnpl.cpp.o] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/demo_pnpl.dir/all' failed
make[1]: *** [CMakeFiles/demo_pnpl.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

[matt-deboer]

I was able to resolve this by comparing with the new g2o api example here: https://github.com/RainerKuemmerle/g2o/blob/master/g2o/examples/ba/ba_demo.cpp
(along with adding missing typedefs for the Vector*D types)

[zhangjun-xyz]

@matt-deboer I still cannot figure out how did you solve this problem. Can you explain more in details, please?

[Zedzou]

@zhangjun-xyz Did you sloved it, I meet it too and do not know what it is meaning. thank you

[zhangjun-xyz]

@Zedzou Sorry I don't focus on this project for a long time. But as a reminder I guess it's caused by wrong g2o version. You can check it. Hope this can help you. :)

[allenthreee]

// init g2o, the init func shuold match the g2o version
// I solved it by substituting old version init using new version
// my g2o is 20200410 
// **********************old version(20170730_git) g2o solver init*******************************
g2o::BlockSolver_6_3::LinearSolverType * linearSolver;
linearSolver= new g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType>();
g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
// *******************************************************************************************
// **********************new version(20200410) g2o solver init*******************************
// ******************if you use new g2o, the construction function should match*************
typedef g2o::LinearSolverCSparse<g2o::BlockSolver_6_3::PoseMatrixType> LinearType;
auto linearSolver= std::unique_ptr<LinearType>(new LinearType); 
auto solver_ptr = std::unique_ptr<g2o::BlockSolver_6_3>(new g2o::BlockSolver_6_3(std::move(linearSolver))); 
auto solver = new g2o::OptimizationAlgorithmLevenberg( std::move(solver_ptr) );
// **********************************finally we can init the optimizer***************************
g2o::SparseOptimizer optimizer;
// optimizer.setVerbose(true);
optimizer.setAlgorithm(solver);
// *******************************************************************************************