From 8e7dcaf68ee3ef59c8ca5f8ab0728dcbea6bf696 Mon Sep 17 00:00:00 2001
From: Zhao Zihe <2809075376@qq.com>
Date: Sat, 2 Jun 2018 22:21:23 +0800
Subject: [PATCH 1/2] Update new version of G2O
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

更新了新版G2O接口，BlockSolver的构造器是unique_ptr的，unique_ptr不支持拷贝构造，所以传参必须通过move。
---
 ch7/pose_estimation_3d2d.cpp | 19 ++++++++++++-------
 1 file changed, 12 insertions(+), 7 deletions(-)

diff --git a/ch7/pose_estimation_3d2d.cpp b/ch7/pose_estimation_3d2d.cpp
index 2daf8bb19..ad4ffb9a9 100644
--- a/ch7/pose_estimation_3d2d.cpp
+++ b/ch7/pose_estimation_3d2d.cpp
@@ -146,27 +146,32 @@ void bundleAdjustment (
     Mat& R, Mat& t )
 {
     // 初始化g2o
+    // 初始化部分需要改成unique_ptr的， 2018年06月01日17:54:25
     typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose 维度为 6, landmark 维度为 3
-    Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>(); // 线性方程求解器
-    Block* solver_ptr = new Block ( linearSolver );     // 矩阵块求解器
-    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr );
+    std::unique_ptr<Block::LinearSolverType> linearSolver (new g2o::LinearSolverCSparse<Block::PoseMatrixType>()); // 线性方程求解器
+    std::unique_ptr<Block> solver_ptr( new Block(std::move(linearSolver)));     // 矩阵块求解器
+    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( std::move(solver_ptr) );
     g2o::SparseOptimizer optimizer;
     optimizer.setAlgorithm ( solver );
 
-    // vertex
+    // vertex(se(3), R, t
     g2o::VertexSE3Expmap* pose = new g2o::VertexSE3Expmap(); // camera pose
     Eigen::Matrix3d R_mat;
     R_mat <<
-          R.at<double> ( 0,0 ), R.at<double> ( 0,1 ), R.at<double> ( 0,2 ),
+               R.at<double> ( 0,0 ), R.at<double> ( 0,1 ), R.at<double> ( 0,2 ),
                R.at<double> ( 1,0 ), R.at<double> ( 1,1 ), R.at<double> ( 1,2 ),
                R.at<double> ( 2,0 ), R.at<double> ( 2,1 ), R.at<double> ( 2,2 );
+
     pose->setId ( 0 );
-    pose->setEstimate ( g2o::SE3Quat (
+    pose->setEstimate ( g2o::SE3Quat (  //si yuan shu {R}, t
                             R_mat,
                             Eigen::Vector3d ( t.at<double> ( 0,0 ), t.at<double> ( 1,0 ), t.at<double> ( 2,0 ) )
-                        ) );
+                        ) 
+    );
+
     optimizer.addVertex ( pose );
 
+    // vertex (Pos in world axes)
     int index = 1;
     for ( const Point3f p:points_3d )   // landmarks
     {

From a442111aac2b905bf6f8e2c4be38f7bc5704b3bd Mon Sep 17 00:00:00 2001
From: Zhao Zihe <2809075376@qq.com>
Date: Sat, 2 Jun 2018 22:24:25 +0800
Subject: [PATCH 2/2] Update new verison of G2O
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

更新了新版G2O接口，BlockSolver的构造器是unique_ptr的，unique_ptr不支持拷贝构造，所以传参必须通过move。
---
 ch6/g2o_curve_fitting/main.cpp | 20 ++++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/ch6/g2o_curve_fitting/main.cpp b/ch6/g2o_curve_fitting/main.cpp
index 946a912db..300125adf 100644
--- a/ch6/g2o_curve_fitting/main.cpp
+++ b/ch6/g2o_curve_fitting/main.cpp
@@ -73,12 +73,20 @@ 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
+
+    //-----修改以下注释到下行代码-----------//
+    // Block::LinearSolverType* linearSolver = new g2o::LinearSolverDense<Block::PoseMatrixType>(); // 线性方程求解器
+    std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolverDense<Block::PoseMatrixType>());
+
+    //-----修改以下注释到下行代码-----------//
+    //Block* solver_ptr = new Block( linearSolver );      // 矩阵块求解器
+    std::unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));
+
     // 梯度下降方法，从GN, LM, DogLeg 中选
-    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( solver_ptr );
-    // g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( solver_ptr );
-    // g2o::OptimizationAlgorithmDogleg* solver = new g2o::OptimizationAlgorithmDogleg( solver_ptr );
+    //-----修改以下注释到下行代码-----------//
+    // g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg( solver_ptr );
+    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( std::move(solver_ptr));
+    
     g2o::SparseOptimizer optimizer;     // 图模型
     optimizer.setAlgorithm( solver );   // 设置求解器
     optimizer.setVerbose( true );       // 打开调试输出
@@ -114,4 +122,4 @@ int main( int argc, char** argv )
     cout<<"estimated model: "<<abc_estimate.transpose()<<endl;
     
     return 0;
-}
\ No newline at end of file
+}