We read every piece of feedback, and take your input very seriously.
To see all available qualifiers, see our documentation.
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
首先是安装,采取的是网上很多人用的方法: git clone https://github.com/strasdat/Sophus.git cd Sophus git checkout a621ff mkdir build cd build cmake .. make
在make的时候出现报错,日志如下: /usr/bin/cmake -S/home/yanglilin/Sophus -B/home/yanglilin/Sophus/build --check-build-system CMakeFiles/Makefile.cmake 0 /usr/bin/cmake -E cmake_progress_start /home/yanglilin/Sophus/build/CMakeFiles /home/yanglilin/Sophus/build/CMakeFiles/progress.marks make -f CMakeFiles/Makefile2 all make[1]: 进入目录“/home/yanglilin/Sophus/build” make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/depend make[2]: 进入目录“/home/yanglilin/Sophus/build” cd /home/yanglilin/Sophus/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/yanglilin/Sophus /home/yanglilin/Sophus /home/yanglilin/Sophus/build /home/yanglilin/Sophus/build /home/yanglilin/Sophus/build/CMakeFiles/Sophus.dir/DependInfo.cmake --color= make[2]: 离开目录“/home/yanglilin/Sophus/build” make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/build make[2]: 进入目录“/home/yanglilin/Sophus/build” [ 5%] Building CXX object CMakeFiles/Sophus.dir/sophus/se2.cpp.o /usr/bin/c++ -DSophus_EXPORTS -O3 -DNDEBUG -fPIC -Wall -Werror -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -o CMakeFiles/Sophus.dir/sophus/se2.cpp.o -c /home/yanglilin/Sophus/sophus/se2.cpp /home/yanglilin/Sophus/sophus/se2.cpp: In member function ‘Eigen::Matrix3d Sophus::SE2::matrix() const’: /home/yanglilin/Sophus/sophus/se2.cpp:104:29: error: ‘Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >::ColXpr’ {aka ‘class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, 1, 32>’} has no member named ‘head’ 104 | homogenious_matrix.col(2).head(2) = translation_; | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp: In member function ‘Eigen::Matrix<double, 3, 3> Sophus::SE2::Adj() const’: /home/yanglilin/Sophus/sophus/se2.cpp:115:7: error: ‘Eigen::Matrix3d’ {aka ‘class Eigen::Matrix<double, 3, 3>’} has no member named ‘topLeftCorner’ 115 | res.topLeftCorner<2,2>() = R; | ^~~~~~~~~~~~~ /home/yanglilin/Sophus/sophus/se2.cpp:115:26: error: expected primary-expression before ‘)’ token 115 | res.topLeftCorner<2,2>() = R; | ^ /home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Matrix3d Sophus::SE2::hat(const Vector3d&)’: /home/yanglilin/Sophus/sophus/se2.cpp:126:9: error: ‘Eigen::Matrix3d’ {aka ‘class Eigen::Matrix<double, 3, 3>’} has no member named ‘topLeftCorner’ 126 | Omega.topLeftCorner<2,2>() = SO2::hat(v[2]); | ^~~~~~~~~~~~~ /home/yanglilin/Sophus/sophus/se2.cpp:126:28: error: expected primary-expression before ‘)’ token 126 | Omega.topLeftCorner<2,2>() = SO2::hat(v[2]); | ^ /home/yanglilin/Sophus/sophus/se2.cpp:127:16: error: ‘Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >::ColXpr’ {aka ‘class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, 1, 32>’} has no member named ‘head’ 127 | Omega.col(2).head<2>() = v.head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:127:24: error: expected primary-expression before ‘)’ token 127 | Omega.col(2).head<2>() = v.head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp:127:30: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’ 127 | Omega.col(2).head<2>() = v.head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:127:38: error: expected primary-expression before ‘)’ token 127 | Omega.col(2).head<2>() = v.head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Vector3d Sophus::SE2::vee(const Matrix3d&)’: /home/yanglilin/Sophus/sophus/se2.cpp:135:17: error: ‘Eigen::Vector3d’ {aka ‘class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’ 135 | upsilon_omega.head<2>() = Omega.col(2).head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:135:25: error: expected primary-expression before ‘)’ token 135 | upsilon_omega.head<2>() = Omega.col(2).head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp:135:42: error: ‘const ColXpr’ {aka ‘const class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, 1, 32>’} has no member named ‘head’ 135 | upsilon_omega.head<2>() = Omega.col(2).head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:135:50: error: expected primary-expression before ‘)’ token 135 | upsilon_omega.head<2>() = Omega.col(2).head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp:136:37: error: ‘const Matrix3d’ {aka ‘const class Eigen::Matrix<double, 3, 3>’} has no member named ‘topLeftCorner’ 136 | upsilon_omega[2] = SO2::vee(Omega.topLeftCorner<2,2>()); | ^~~~~~~~~~~~~ /home/yanglilin/Sophus/sophus/se2.cpp:136:56: error: expected primary-expression before ‘)’ token 136 | upsilon_omega[2] = SO2::vee(Omega.topLeftCorner<2,2>()); | ^ /home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Vector3d Sophus::SE2::lieBracket(const Vector3d&, const Vector3d&)’: /home/yanglilin/Sophus/sophus/se2.cpp:143:26: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’ 143 | Vector2d upsilon1 = v1.head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:143:34: error: expected primary-expression before ‘)’ token 143 | Vector2d upsilon1 = v1.head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp:144:26: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’ 144 | Vector2d upsilon2 = v2.head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:144:34: error: expected primary-expression before ‘)’ token 144 | Vector2d upsilon2 = v2.head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Matrix3d Sophus::SE2::d_lieBracketab_by_d_a(const Vector3d&)’: /home/yanglilin/Sophus/sophus/se2.cpp:156:26: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’ 156 | Vector2d upsilon2 = v2.head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:156:34: error: expected primary-expression before ‘)’ token 156 | Vector2d upsilon2 = v2.head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Sophus::SE2 Sophus::SE2::exp(const Vector3d&)’: /home/yanglilin/Sophus/sophus/se2.cpp:169:29: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’ 169 | Vector2d upsilon = update.head<2>(); | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:169:37: error: expected primary-expression before ‘)’ token 169 | Vector2d upsilon = update.head<2>(); | ^ /home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Vector3d Sophus::SE2::log(const Sophus::SE2&)’: /home/yanglilin/Sophus/sophus/se2.cpp:223:17: error: ‘Eigen::Vector3d’ {aka ‘class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’ 223 | upsilon_theta.head<2>() = V_invse2.translation_; | ^~~~ /home/yanglilin/Sophus/sophus/se2.cpp:223:25: error: expected primary-expression before ‘)’ token 223 | upsilon_theta.head<2>() = V_invse2.translation_; | ^ make[2]: *** [CMakeFiles/Sophus.dir/build.make:79:CMakeFiles/Sophus.dir/sophus/se2.cpp.o] 错误 1 make[2]: 离开目录“/home/yanglilin/Sophus/build” make[1]: *** [CMakeFiles/Makefile2:91:CMakeFiles/Sophus.dir/all] 错误 2 make[1]: 离开目录“/home/yanglilin/Sophus/build” make: *** [Makefile:144:all] 错误 2
暂时没有找到解决办法~ 感谢回复!
The text was updated successfully, but these errors were encountered:
No branches or pull requests
首先是安装,采取的是网上很多人用的方法:
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build
cd build
cmake ..
make
在make的时候出现报错,日志如下:
/usr/bin/cmake -S/home/yanglilin/Sophus -B/home/yanglilin/Sophus/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/yanglilin/Sophus/build/CMakeFiles /home/yanglilin/Sophus/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: 进入目录“/home/yanglilin/Sophus/build”
make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/depend
make[2]: 进入目录“/home/yanglilin/Sophus/build”
cd /home/yanglilin/Sophus/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/yanglilin/Sophus /home/yanglilin/Sophus /home/yanglilin/Sophus/build /home/yanglilin/Sophus/build /home/yanglilin/Sophus/build/CMakeFiles/Sophus.dir/DependInfo.cmake --color=
make[2]: 离开目录“/home/yanglilin/Sophus/build”
make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/build
make[2]: 进入目录“/home/yanglilin/Sophus/build”
[ 5%] Building CXX object CMakeFiles/Sophus.dir/sophus/se2.cpp.o
/usr/bin/c++ -DSophus_EXPORTS -O3 -DNDEBUG -fPIC -Wall -Werror -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -o CMakeFiles/Sophus.dir/sophus/se2.cpp.o -c /home/yanglilin/Sophus/sophus/se2.cpp
/home/yanglilin/Sophus/sophus/se2.cpp: In member function ‘Eigen::Matrix3d Sophus::SE2::matrix() const’:
/home/yanglilin/Sophus/sophus/se2.cpp:104:29: error: ‘Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >::ColXpr’ {aka ‘class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, 1, 32>’} has no member named ‘head’
104 | homogenious_matrix.col(2).head(2) = translation_;
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp: In member function ‘Eigen::Matrix<double, 3, 3> Sophus::SE2::Adj() const’:
/home/yanglilin/Sophus/sophus/se2.cpp:115:7: error: ‘Eigen::Matrix3d’ {aka ‘class Eigen::Matrix<double, 3, 3>’} has no member named ‘topLeftCorner’
115 | res.topLeftCorner<2,2>() = R;
| ^~~~~~~~~~~~~
/home/yanglilin/Sophus/sophus/se2.cpp:115:26: error: expected primary-expression before ‘)’ token
115 | res.topLeftCorner<2,2>() = R;
| ^
/home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Matrix3d Sophus::SE2::hat(const Vector3d&)’:
/home/yanglilin/Sophus/sophus/se2.cpp:126:9: error: ‘Eigen::Matrix3d’ {aka ‘class Eigen::Matrix<double, 3, 3>’} has no member named ‘topLeftCorner’
126 | Omega.topLeftCorner<2,2>() = SO2::hat(v[2]);
| ^~~~~~~~~~~~~
/home/yanglilin/Sophus/sophus/se2.cpp:126:28: error: expected primary-expression before ‘)’ token
126 | Omega.topLeftCorner<2,2>() = SO2::hat(v[2]);
| ^
/home/yanglilin/Sophus/sophus/se2.cpp:127:16: error: ‘Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >::ColXpr’ {aka ‘class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, 1, 32>’} has no member named ‘head’
127 | Omega.col(2).head<2>() = v.head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:127:24: error: expected primary-expression before ‘)’ token
127 | Omega.col(2).head<2>() = v.head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp:127:30: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’
127 | Omega.col(2).head<2>() = v.head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:127:38: error: expected primary-expression before ‘)’ token
127 | Omega.col(2).head<2>() = v.head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Vector3d Sophus::SE2::vee(const Matrix3d&)’:
/home/yanglilin/Sophus/sophus/se2.cpp:135:17: error: ‘Eigen::Vector3d’ {aka ‘class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’
135 | upsilon_omega.head<2>() = Omega.col(2).head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:135:25: error: expected primary-expression before ‘)’ token
135 | upsilon_omega.head<2>() = Omega.col(2).head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp:135:42: error: ‘const ColXpr’ {aka ‘const class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, 1, 32>’} has no member named ‘head’
135 | upsilon_omega.head<2>() = Omega.col(2).head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:135:50: error: expected primary-expression before ‘)’ token
135 | upsilon_omega.head<2>() = Omega.col(2).head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp:136:37: error: ‘const Matrix3d’ {aka ‘const class Eigen::Matrix<double, 3, 3>’} has no member named ‘topLeftCorner’
136 | upsilon_omega[2] = SO2::vee(Omega.topLeftCorner<2,2>());
| ^~~~~~~~~~~~~
/home/yanglilin/Sophus/sophus/se2.cpp:136:56: error: expected primary-expression before ‘)’ token
136 | upsilon_omega[2] = SO2::vee(Omega.topLeftCorner<2,2>());
| ^
/home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Vector3d Sophus::SE2::lieBracket(const Vector3d&, const Vector3d&)’:
/home/yanglilin/Sophus/sophus/se2.cpp:143:26: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’
143 | Vector2d upsilon1 = v1.head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:143:34: error: expected primary-expression before ‘)’ token
143 | Vector2d upsilon1 = v1.head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp:144:26: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’
144 | Vector2d upsilon2 = v2.head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:144:34: error: expected primary-expression before ‘)’ token
144 | Vector2d upsilon2 = v2.head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Matrix3d Sophus::SE2::d_lieBracketab_by_d_a(const Vector3d&)’:
/home/yanglilin/Sophus/sophus/se2.cpp:156:26: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’
156 | Vector2d upsilon2 = v2.head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:156:34: error: expected primary-expression before ‘)’ token
156 | Vector2d upsilon2 = v2.head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Sophus::SE2 Sophus::SE2::exp(const Vector3d&)’:
/home/yanglilin/Sophus/sophus/se2.cpp:169:29: error: ‘const Vector3d’ {aka ‘const class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’
169 | Vector2d upsilon = update.head<2>();
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:169:37: error: expected primary-expression before ‘)’ token
169 | Vector2d upsilon = update.head<2>();
| ^
/home/yanglilin/Sophus/sophus/se2.cpp: In static member function ‘static Eigen::Vector3d Sophus::SE2::log(const Sophus::SE2&)’:
/home/yanglilin/Sophus/sophus/se2.cpp:223:17: error: ‘Eigen::Vector3d’ {aka ‘class Eigen::Matrix<double, 3, 1>’} has no member named ‘head’
223 | upsilon_theta.head<2>() = V_invse2.translation_;
| ^~~~
/home/yanglilin/Sophus/sophus/se2.cpp:223:25: error: expected primary-expression before ‘)’ token
223 | upsilon_theta.head<2>() = V_invse2.translation_;
| ^
make[2]: *** [CMakeFiles/Sophus.dir/build.make:79:CMakeFiles/Sophus.dir/sophus/se2.cpp.o] 错误 1
make[2]: 离开目录“/home/yanglilin/Sophus/build”
make[1]: *** [CMakeFiles/Makefile2:91:CMakeFiles/Sophus.dir/all] 错误 2
make[1]: 离开目录“/home/yanglilin/Sophus/build”
make: *** [Makefile:144:all] 错误 2
暂时没有找到解决办法~
感谢回复!
The text was updated successfully, but these errors were encountered: