1. pose_estimation_3d3d.cpp

    // 初始化g2o
    typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose維度為 6, landmark 維度為 3
    //Block::LinearSolverType* linearSolver = new g2o::LinearSolverEigen<Block::PoseMatrixType>(); // 線性方程求解器
    std::unique_ptr<Block::LinearSolverType
 
> linearSolver (new g2o::LinearSolverEigen<Block::PoseMatrixType>());
    //Block* solver_ptr = new Block( linearSolver );      // 矩陣塊求解器
    std::unique_ptr<Block> solver_ptr (new Block (std::move(linearSolver)));
    g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton
 
( std::move(solver_ptr) );
    //g2o::OptimizationAlgorithmGaussNewton* solver = new g2o::OptimizationAlgorithmGaussNewton( std::move(solver_ptr) );
    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm( solver );

2. pose_estimation_3d2d.cpp
修改版本：

    // 初始化g2o
    typedef g2o::BlockSolver
 
< g2o::BlockSolverTraits<6,3> > Block;  // pose 維度為 6, landmark 維度為 3
    std::unique_ptr<Block::LinearSolverType> linearSolver ( new g2o::LinearSolverCSparse<Block::PoseMatrixType>()); // 線性方程求解器
    std::unique_ptr<Block> solver_ptr ( new Block ( std::move(linearSolver)));     // 矩陣塊求解器
    g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( std::move(solver_ptr));
    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm ( solver );

原始版本：

    // typedef g2o::BlockSolver< g2o::BlockSolverTraits<6,3> > Block;  // pose 維度為 6, landmark 維度為 3
    // Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>(); // 線性方程求解器
    // Block* solver_ptr = new Block ( linearSolver );     // 矩陣塊求解器
    // g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg ( solver_ptr );
    // g2o::SparseOptimizer optimizer;
    // optimizer.setAlgorithm ( solver );