g20 problem when make

[wanderhlx]

Hi~ I meet some problems when I build the project with G2O, some problem appeared:

/home/hlx/pl-slam-master/src/mapHandler.cpp:3967:77: 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);
and at last:
CMakeFiles/plslam.dir/build.make:62: recipe for target 'CMakeFiles/plslam.dir/src/mapHandler.cpp.o' failed
make[2]: *** [CMakeFiles/plslam.dir/src/mapHandler.cpp.o] Error 1
CMakeFiles/Makefile2:99: recipe for target 'CMakeFiles/plslam.dir/all' failed
make[1]: *** [CMakeFiles/plslam.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

I wander if I installed the wrong version of g2o or are there any other reasons cause this error??

[limin199]

g2o::BlockSolver_6_3::LinearSolverType* linearSolver;
linearSolver = new g2o::LinearSolverCholmodg2o::BlockSolver_6_3::PoseMatrixType();
g2o::BlockSolver_6_3* solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);

Change the above code to

std::unique_ptr<g2o::BlockSolver_6_3::LinearSolverType> linearSolver(new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>());
std::unique_ptr<g2o::BlockSolver_6_3> solver_ptr(new g2o::BlockSolver_6_3(std::move(linearSolver)));
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(solver_ptr));