fatal error: sophus/se3.h: 没有那个文件或目录

0.引言

sophus已经安装，但是编译代码报错：fatal error: sophus/se3.h: 没有那个文件或目录

1.原因

sophus版本问题。老版本sophus是非模板类的Sophus。最新sophus为模板类的Sophus，代码会有点变化。

2.非模板类sophus

git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff  #版本回溯
mkdir build && cd build && cmake .. && sudo make install

报错：

***/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment
   unit_complex_.real() = 1.;
                          ^~
***/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment
   unit_complex_.imag() = 0.;

报错解决参考，打开 so2.cpp 修改构造函数：

//unit_complex_.real() = 1.;
//unit_complex_.imag() = 0.;
unit_complex_.real(1.); 
unit_complex_.imag(0.);

安装结果：

-- Install configuration: "Release"
-- Up-to-date: /usr/local/include/sophus
-- Installing: /usr/local/include/sophus/se3.h
-- Installing: /usr/local/include/sophus/scso3.h
-- Installing: /usr/local/include/sophus/se2.h
-- Installing: /usr/local/include/sophus/so2.h
-- Installing: /usr/local/include/sophus/sim3.h
-- Installing: /usr/local/include/sophus/so3.h
-- Installing: /usr/local/lib/libSophus.so

非模板类的头文件为**.h

3.模板类sophus

依赖 fmt 库，参考.

git clone https://github.com/strasdat/Sophus.git
cd Sophus
mkdir build && cd build && cmake .. && sudo make install

安装结果：

-- Install configuration: "Release"
-- Up-to-date: /usr/local/share/sophus/cmake/SophusTargets.cmake
-- Up-to-date: /usr/local/share/sophus/cmake/SophusConfig.cmake
-- Up-to-date: /usr/local/share/sophus/cmake/SophusConfigVersion.cmake
-- Up-to-date: /usr/local/include/sophus/average.hpp
-- Up-to-date: /usr/local/include/sophus/common.hpp
-- Up-to-date: /usr/local/include/sophus/geometry.hpp
-- Up-to-date: /usr/local/include/sophus/interpolate.hpp
-- Up-to-date: /usr/local/include/sophus/interpolate_details.hpp
-- Up-to-date: /usr/local/include/sophus/num_diff.hpp
-- Up-to-date: /usr/local/include/sophus/rotation_matrix.hpp
-- Up-to-date: /usr/local/include/sophus/rxso2.hpp
-- Up-to-date: /usr/local/include/sophus/rxso3.hpp
-- Up-to-date: /usr/local/include/sophus/se2.hpp
-- Up-to-date: /usr/local/include/sophus/se3.hpp
-- Up-to-date: /usr/local/include/sophus/sim2.hpp
-- Up-to-date: /usr/local/include/sophus/sim3.hpp
-- Up-to-date: /usr/local/include/sophus/sim_details.hpp
-- Up-to-date: /usr/local/include/sophus/so2.hpp
-- Up-to-date: /usr/local/include/sophus/so3.hpp
-- Up-to-date: /usr/local/include/sophus/types.hpp
-- Up-to-date: /usr/local/include/sophus/velocities.hpp
-- Up-to-date: /usr/local/include/sophus/formatstring.hpp

模板类的头文件为**.hpp

4.多版本安装

以先安装费模板类为例，第一次安装直接普通安装即可，模板类安装时指定文件夹，互不影响。

mkdir build
cd build
cmake -D CMAKE_INSTALL_PREFIX=/usr/local/sophus-template ..
make -j8
sudo make install

版本切换：

# cmake version
cmake_minimum_required(VERSION 2.8)
# project name
project(test)
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
...
target_link_libraries(test 
${Sophus_LIBS}
)

##  使用模板类sophus
cmake_minimum_required(VERSION 2.8)
set(Sophus_DIR "/usr/local/sophus-template/share/sophus/")
#或 
#set(Sophus_INCLUDE_DIR "/usr/local/sophus-template/include")
##set(Sophus_LIBS )
# project name
project(test)
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
...
target_link_libraries(test 
${Sophus_LIBS}
)