Build error

[xukuanHIT]

Hi, I have installed g2o library , but when I running build.sh, error occured，**

/home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationEssGraphG2O()’:
/home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:3933:77: 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);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/xukuan/software/pl-slam/pl-slam/include/mapHandler.h:35,
from /home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:22:
/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/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:3934:101: 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/xukuan/software/pl-slam/pl-slam/include/mapHandler.h:41:0,
from /home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:22:
/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’
/home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:4044:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated [-Wdeprecated-declarations]
g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat();
^
In file included from /usr/local/include/g2o/core/optimizable_graph.h:43:0,
from /usr/local/include/g2o/core/base_vertex.h:30,
from /usr/local/include/g2o/types/slam3d/vertex_se3.h:31,
from /home/xukuan/software/pl-slam/pl-slam/include/mapHandler.h:32,
from /home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:22:
/usr/local/include/g2o/types/slam3d/vertex_se3.h:117:15: note: declared here
SE3Quat G2O_ATTRIBUTE_DEPRECATED(estimateAsSE3Quat() const) { return internal::toSE3Quat(estimate());}
^
/home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationCovGraphG2O()’:
/home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:4160:77: 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);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/xukuan/software/pl-slam/pl-slam/include/mapHandler.h:35,
from /home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:22:
/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/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:4161:101: 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/xukuan/software/pl-slam/pl-slam/include/mapHandler.h:41:0,
from /home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:22:
/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’
/home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:4273:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated [-Wdeprecated-declarations]
g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat();
^
In file included from /usr/local/include/g2o/core/optimizable_graph.h:43:0,
from /usr/local/include/g2o/core/base_vertex.h:30,
from /usr/local/include/g2o/types/slam3d/vertex_se3.h:31,
from /home/xukuan/software/pl-slam/pl-slam/include/mapHandler.h:32,
from /home/xukuan/software/pl-slam/pl-slam/src/mapHandler.cpp:22:
/usr/local/include/g2o/types/slam3d/vertex_se3.h:117:15: note: declared here
SE3Quat G2O_ATTRIBUTE_DEPRECATED(estimateAsSE3Quat() const) { return internal::toSE3Quat(estimate());}
^
CMakeFiles/plslam.dir/build.make:206: 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

[wanderhlx]

I have the same problem, have you solved it?