视觉SLAM十四讲 ch4 trajectoryError.cpp报错问题和解决

最新推荐文章于 2024-03-25 20:39:06 发布
最新推荐文章于 2024-03-25 20:39:06 发布
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分类专栏： ros 文章标签： c++ ubuntu slam linux
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本文链接：https://blog.csdn.net/m0_53683803/article/details/123063029
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首先来看一下我的CMakelist文件：

cmake_minimum_required(VERSION 3.0)
project(trajectoryError)
# 在cmake脚本中，设置编译选项可以通过add_compile_options命令，也可以通过set命令修改CMAKE_CXX_FLAGS或CMAKE_C_FLAGS。
# add_compile_options(-std=c++11) # 这句话的意思是在make时让编译器（g++）自动添加C++11的性质 -> 设置编译选项

option(USE_UBUNTU_20 "Set to ON if you are using Ubuntu 20.04" ON)
find_package(Pangolin REQUIRED)
if(USE_UBUNTU_20)
    message("You are using Ubuntu 20.04, fmt::fmt will be linked")
    find_package(fmt REQUIRED)
    set(FMT_LIBRARIES fmt::fmt)
endif()
include_directories(${Pangolin_INCLUDE_DIRS})
add_executable(trajectoryError trajectoryError.cpp)
target_link_libraries(trajectoryError ${FMT_LIBRARIES})
target_link_libraries(trajectoryError ${Pangolin_LIBRARIES})

set(CMAKE_BUILD_TYPE "Release")
set(Sophus_LIBRARIES  "/usr/local/lib/libSophus.so")
find_package(Sophus REQUIRED)
include_directories( ${Sophus_INCLUDE_DIRS} )
target_link_libraries(trajectoryError ${Sophus_LIBRARIES})

修改了cmakelist文件可以解决大部分的由于库链接出现问题所导致的报错。
然后再看一下代码的需要修改的地方：
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请添加图片描述
我们需要把头文件对应起来，原来的头文件需要与安装在本地（sophus支持带模板的，可以选择不安装）的文件名字对应，具体是后缀为.h还是.hpp需要根据自己的电脑对应起来。
修改完之后大部分的错误可以解决了。
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请添加图片描述
如果cmake时遇到了这样的错误的话：

[ 50%] Building CXX object CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
                 from /usr/local/include/pangolin/windowing/window.h:35,
                 from /usr/local/include/pangolin/display/display.h:34,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
      |                                                                               ^~~~~~~
      |                                                                               decay
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
      |                                                                               ^~~~~~~
      |                                                                               decay
/usr/local/include/sigslot/signal.hpp:109:87: error: template argument 1 is invalid
  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
      |                                                                                       ^
/usr/local/include/sigslot/signal.hpp:109:92: error: ‘::value’ has not been declared
  109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible<std::decay_t<P>>::value;
      |                                                                                            ^~~~~
/usr/local/include/sigslot/signal.hpp:132:53: error: ‘remove_pointer_t’ is not a member of ‘std’; did you mean ‘remove_pointer’?
  132 |                                                std::remove_pointer_t<T>>::value;
      |                                                     ^~~~~~~~~~~~~~~~
      |                                                     remove_pointer
/usr/local/include/sigslot/signal.hpp:132:53: error: ‘remove_pointer_t’ is not a member of ‘std’; did you mean ‘remove_pointer’?
  132 |                                                std::remove_pointer_t<T>>::value;
      |                                                     ^~~~~~~~~~~~~~~~
      |                                                     remove_pointer
/usr/local/include/sigslot/signal.hpp:132:70: error: template argument 2 is invalid
  132 |                                                std::remove_pointer_t<T>>::value;
      |                                                                      ^
/usr/local/include/sigslot/signal.hpp:132:75: error: ‘::value’ has not been declared
  132 |                                                std::remove_pointer_t<T>>::value;
      |                                                                           ^~~~~
/usr/local/include/sigslot/signal.hpp:223:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  223 | struct function_traits<T, std::enable_if_t<trait::is_func_v<T>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:223:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  223 | struct function_traits<T, std::enable_if_t<trait::is_func_v<T>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:223:62: error: type/value mismatch at argument 2 in template parameter list for ‘template<class T, class> struct sigslot::detail::function_traits’
  223 | struct function_traits<T, std::enable_if_t<trait::is_func_v<T>>> {
      |                                                              ^~
/usr/local/include/sigslot/signal.hpp:223:62: note:   expected a type, got ‘(<expression error> < is_func_v<T>)’
/usr/local/include/sigslot/signal.hpp:223:64: error: expected unqualified-id before ‘>’ token
  223 | struct function_traits<T, std::enable_if_t<trait::is_func_v<T>>> {
      |                                                                ^
/usr/local/include/sigslot/signal.hpp:233:33: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  233 | struct function_traits<T*, std::enable_if_t<trait::is_func_v<T>>> {
      |                                 ^~~~~~~~~~~
      |                                 enable_if
/usr/local/include/sigslot/signal.hpp:233:33: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  233 | struct function_traits<T*, std::enable_if_t<trait::is_func_v<T>>> {
      |                                 ^~~~~~~~~~~
      |                                 enable_if
/usr/local/include/sigslot/signal.hpp:233:63: error: type/value mismatch at argument 2 in template parameter list for ‘template<class T, class> struct sigslot::detail::function_traits’
  233 | struct function_traits<T*, std::enable_if_t<trait::is_func_v<T>>> {
      |                                                               ^~
/usr/local/include/sigslot/signal.hpp:233:63: note:   expected a type, got ‘(<expression error> < is_func_v<T>)’
/usr/local/include/sigslot/signal.hpp:233:65: error: expected unqualified-id before ‘>’ token
  233 | struct function_traits<T*, std::enable_if_t<trait::is_func_v<T>>> {
      |                                                                 ^
/usr/local/include/sigslot/signal.hpp:243:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  243 | struct function_traits<T, std::enable_if_t<trait::is_pmf_v<T>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:243:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  243 | struct function_traits<T, std::enable_if_t<trait::is_pmf_v<T>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:243:61: error: type/value mismatch at argument 2 in template parameter list for ‘template<class T, class> struct sigslot::detail::function_traits’
  243 | struct function_traits<T, std::enable_if_t<trait::is_pmf_v<T>>> {
      |                                                             ^~
/usr/local/include/sigslot/signal.hpp:243:61: note:   expected a type, got ‘(<expression error> < is_pmf_v<T>)’
/usr/local/include/sigslot/signal.hpp:243:63: error: expected unqualified-id before ‘>’ token
  243 | struct function_traits<T, std::enable_if_t<trait::is_pmf_v<T>>> {
      |                                                               ^
/usr/local/include/sigslot/signal.hpp:254:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  254 | struct function_traits<T, std::enable_if_t<trait::has_call_operator_v<T>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:254:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  254 | struct function_traits<T, std::enable_if_t<trait::has_call_operator_v<T>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:254:72: error: type/value mismatch at argument 2 in template parameter list for ‘template<class T, class> struct sigslot::detail::function_traits’
  254 | struct function_traits<T, std::enable_if_t<trait::has_call_operator_v<T>>> {
      |                                                                        ^~
/usr/local/include/sigslot/signal.hpp:254:72: note:   expected a type, got ‘(<expression error> < has_call_operator_v<T>)’
/usr/local/include/sigslot/signal.hpp:254:74: error: expected unqualified-id before ‘>’ token
  254 | struct function_traits<T, std::enable_if_t<trait::has_call_operator_v<T>>> {
      |                                                                          ^
/usr/local/include/sigslot/signal.hpp: In function ‘sigslot::detail::func_ptr sigslot::detail::get_function_ptr(const T&)’:
/usr/local/include/sigslot/signal.hpp:269:26: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
  269 |     function_traits<std::decay_t<T>>::ptr(t, d);
      |                          ^~~~~~~
      |                          decay
/usr/local/include/sigslot/signal.hpp:269:26: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
  269 |     function_traits<std::decay_t<T>>::ptr(t, d);
      |                          ^~~~~~~
      |                          decay
/usr/local/include/sigslot/signal.hpp:269:34: error: template argument 1 is invalid
  269 |     function_traits<std::decay_t<T>>::ptr(t, d);
      |                                  ^
/usr/local/include/sigslot/signal.hpp:269:35: error: expected unqualified-id before ‘>’ token
  269 |     function_traits<std::decay_t<T>>::ptr(t, d);
      |                                   ^~
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:291:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  291 | struct object_pointer<T*, std::enable_if_t<trait::is_pointer_v<T*>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:291:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  291 | struct object_pointer<T*, std::enable_if_t<trait::is_pointer_v<T*>>> {
      |                                ^~~~~~~~~~~
      |                                enable_if
/usr/local/include/sigslot/signal.hpp:291:66: error: type/value mismatch at argument 2 in template parameter list for ‘template<class T, class> struct sigslot::detail::object_pointer’
  291 | struct object_pointer<T*, std::enable_if_t<trait::is_pointer_v<T*>>> {
      |                                                                  ^~
/usr/local/include/sigslot/signal.hpp:291:66: note:   expected a type, got ‘(<expression error> < is_pointer_v<T*>)’
/usr/local/include/sigslot/signal.hpp:291:68: error: expected unqualified-id before ‘>’ token
  291 | struct object_pointer<T*, std::enable_if_t<trait::is_pointer_v<T*>>> {
      |                                                                    ^
/usr/local/include/sigslot/signal.hpp:298:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  298 | struct object_pointer<T, std::enable_if_t<trait::is_weak_ptr_v<T>>> {
      |                               ^~~~~~~~~~~
      |                               enable_if
/usr/local/include/sigslot/signal.hpp:298:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  298 | struct object_pointer<T, std::enable_if_t<trait::is_weak_ptr_v<T>>> {
      |                               ^~~~~~~~~~~
      |                               enable_if
/usr/local/include/sigslot/signal.hpp:298:65: error: type/value mismatch at argument 2 in template parameter list for ‘template<class T, class> struct sigslot::detail::object_pointer’
  298 | struct object_pointer<T, std::enable_if_t<trait::is_weak_ptr_v<T>>> {
      |                                                                 ^~
/usr/local/include/sigslot/signal.hpp:298:65: note:   expected a type, got ‘(<expression error> < is_weak_ptr_v<T>)’
/usr/local/include/sigslot/signal.hpp:298:67: error: expected unqualified-id before ‘>’ token
  298 | struct object_pointer<T, std::enable_if_t<trait::is_weak_ptr_v<T>>> {
      |                                                                   ^
/usr/local/include/sigslot/signal.hpp:306:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  306 | struct object_pointer<T, std::enable_if_t<!trait::is_pointer_v<T> &&
      |                               ^~~~~~~~~~~
      |                               enable_if
/usr/local/include/sigslot/signal.hpp:306:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
  306 | struct object_pointer<T, std::enable_if_t<!trait::is_pointer_v<T> &&
      |                               ^~~~~~~~~~~
      |                               enable_if
/usr/local/include/sigslot/signal.hpp:308:76: error: type/value mismatch at argument 2 in template parameter list for ‘template<class T, class> struct sigslot::detail::object_pointer’
  308 |                                           trait::is_weak_ptr_compatible_v<T>>>
      |                                                                            ^~
/usr/local/include/sigslot/signal.hpp:308:76: note:   expected a type, got ‘(((<expression error> < (! is_pointer_v<T>)) && (! is_weak_ptr_v<T>)) && is_weak_ptr_compatible_v<T>)’
/usr/local/include/sigslot/signal.hpp:308:78: error: expected unqualified-id before ‘>’ token
  308 |                                           trait::is_weak_ptr_compatible_v<T>>>
      |                                                                              ^
/usr/local/include/sigslot/signal.hpp:398:41: error: ‘std::enable_if_t’ has not been declared
  398 |     explicit copy_on_write(U && x, std::enable_if_t<!std::is_same<std::decay_t<U>,
      |                                         ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:398:52: error: expected ‘,’ or ‘...’ before ‘<’ token
  398 |     explicit copy_on_write(U && x, std::enable_if_t<!std::is_same<std::decay_t<U>,
      |                                                    ^
/usr/local/include/sigslot/signal.hpp:532:5: error: ‘index’ function uses ‘auto’ type specifier without trailing return type
  532 |     auto index() const {
      |     ^~~~
/usr/local/include/sigslot/signal.hpp:532:5: note: deduced return type only available with ‘-std=c++14’ or ‘-std=gnu++14’
/usr/local/include/sigslot/signal.hpp:536:5: error: ‘index’ function uses ‘auto’ type specifier without trailing return type
  536 |     auto& index() {
      |     ^~~~
/usr/local/include/sigslot/signal.hpp:536:5: note: deduced return type only available with ‘-std=c++14’ or ‘-std=gnu++14’
/usr/local/include/sigslot/signal.hpp:793:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
  793 |     std::enable_if_t<function_traits<C>::must_check_object, bool>
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:799:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
  799 |     std::enable_if_t<!function_traits<C>::must_check_object, bool>
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:876:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
  876 |     std::decay_t<Func> func;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot<Func, Args>::slot(sigslot::detail::cleanable&, F&&, Gid)’:
/usr/local/include/sigslot/signal.hpp:858:11: error: class ‘sigslot::detail::slot<Func, Args>’ does not have any field named ‘func’
  858 |         , func{std::forward<F>(f)} {}
      |           ^~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot<Func, Args>::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:866:33: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
  866 |         return get_function_ptr(func);
      |                                 ^~~~
      |                                 Func
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot<Func, Args>::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:871:23: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
  871 |         return typeid(func);
      |                       ^~~~
      |                       Func
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:908:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
  908 |     std::decay_t<Func> func;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_extended<Func, Args>::slot_extended(sigslot::detail::cleanable&, F&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:888:11: error: class ‘sigslot::detail::slot_extended<Func, Args>’ does not have any field named ‘func’
  888 |         , func{std::forward<F>(f)} {}
      |           ^~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_extended<Func, Args>::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:898:33: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
  898 |         return get_function_ptr(func);
      |                                 ^~~~
      |                                 Func
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_extended<Func, Args>::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:903:23: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
  903 |         return typeid(func);
      |                       ^~~~
      |                       Func
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:945:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
  945 |     std::decay_t<Pmf> pmf;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp:946:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
  946 |     std::decay_t<Ptr> ptr;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_pmf<Pmf, Ptr, Args>::slot_pmf(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:922:11: error: class ‘sigslot::detail::slot_pmf<Pmf, Ptr, Args>’ does not have any field named ‘pmf’
  922 |         , pmf{std::forward<F>(f)}
      |           ^~~
/usr/local/include/sigslot/signal.hpp:923:11: error: class ‘sigslot::detail::slot_pmf<Pmf, Ptr, Args>’ does not have any field named ‘ptr’
  923 |         , ptr{std::forward<P>(p)} {}
      |           ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_pmf<Pmf, Ptr, Args>::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:927:12: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
  927 |         ((*ptr).*pmf)(args...);
      |            ^~~
      |            Ptr
/usr/local/include/sigslot/signal.hpp:927:18: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
  927 |         ((*ptr).*pmf)(args...);
      |                  ^~~
      |                  Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_pmf<Pmf, Ptr, Args>::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:931:33: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
  931 |         return get_function_ptr(pmf);
      |                                 ^~~
      |                                 Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_pmf<Pmf, Ptr, Args>::get_object() const’:
/usr/local/include/sigslot/signal.hpp:935:31: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
  935 |         return get_object_ptr(ptr);
      |                               ^~~
      |                               Ptr
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_pmf<Pmf, Ptr, Args>::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:940:23: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
  940 |         return typeid(pmf);
      |                       ^~~
      |                       Pmf
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:982:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
  982 |     std::decay_t<Pmf> pmf;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp:983:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
  983 |     std::decay_t<Ptr> ptr;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_pmf_extended<Pmf, Ptr, Args>::slot_pmf_extended(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:958:11: error: class ‘sigslot::detail::slot_pmf_extended<Pmf, Ptr, Args>’ does not have any field named ‘pmf’
  958 |         , pmf{std::forward<F>(f)}
      |           ^~~
/usr/local/include/sigslot/signal.hpp:959:11: error: class ‘sigslot::detail::slot_pmf_extended<Pmf, Ptr, Args>’ does not have any field named ‘ptr’
  959 |         , ptr{std::forward<P>(p)} {}
      |           ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_pmf_extended<Pmf, Ptr, Args>::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:965:12: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
  965 |         ((*ptr).*pmf)(conn, args...);
      |            ^~~
      |            Ptr
/usr/local/include/sigslot/signal.hpp:965:18: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
  965 |         ((*ptr).*pmf)(conn, args...);
      |                  ^~~
      |                  Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_pmf_extended<Pmf, Ptr, Args>::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:969:33: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
  969 |         return get_function_ptr(pmf);
      |                                 ^~~
      |                                 Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_pmf_extended<Pmf, Ptr, Args>::get_object() const’:
/usr/local/include/sigslot/signal.hpp:972:31: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
  972 |         return get_object_ptr(ptr);
      |                               ^~~
      |                               Ptr
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_pmf_extended<Pmf, Ptr, Args>::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:977:23: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
  977 |         return typeid(pmf);
      |                       ^~~
      |                       Pmf
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:1032:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
 1032 |     std::decay_t<Func> func;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp:1033:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
 1033 |     std::decay_t<WeakPtr> ptr;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_tracked<Func, WeakPtr, Args>::slot_tracked(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:997:11: error: class ‘sigslot::detail::slot_tracked<Func, WeakPtr, Args>’ does not have any field named ‘func’
  997 |         , func{std::forward<F>(f)}
      |           ^~~~
/usr/local/include/sigslot/signal.hpp:998:11: error: class ‘sigslot::detail::slot_tracked<Func, WeakPtr, Args>’ does not have any field named ‘ptr’
  998 |         , ptr{std::forward<P>(p)}
      |           ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘bool sigslot::detail::slot_tracked<Func, WeakPtr, Args>::connected() const’:
/usr/local/include/sigslot/signal.hpp:1002:17: error: ‘ptr’ was not declared in this scope
 1002 |         return !ptr.expired() && slot_state::connected();
      |                 ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_tracked<Func, WeakPtr, Args>::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:1007:19: error: ‘ptr’ was not declared in this scope
 1007 |         auto sp = ptr.lock();
      |                   ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_tracked<Func, WeakPtr, Args>::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:1018:33: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
 1018 |         return get_function_ptr(func);
      |                                 ^~~~
      |                                 Func
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_tracked<Func, WeakPtr, Args>::get_object() const’:
/usr/local/include/sigslot/signal.hpp:1022:31: error: ‘ptr’ was not declared in this scope
 1022 |         return get_object_ptr(ptr);
      |                               ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_tracked<Func, WeakPtr, Args>::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:1027:23: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
 1027 |         return typeid(func);
      |                       ^~~~
      |                       Func
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:1082:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
 1082 |     std::decay_t<Pmf> pmf;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp:1083:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
 1083 |     std::decay_t<WeakPtr> ptr;
      |          ^~~~~~~
      |          decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>::slot_pmf_tracked(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:1047:11: error: class ‘sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>’ does not have any field named ‘pmf’
 1047 |         , pmf{std::forward<F>(f)}
      |           ^~~
/usr/local/include/sigslot/signal.hpp:1048:11: error: class ‘sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>’ does not have any field named ‘ptr’
 1048 |         , ptr{std::forward<P>(p)}
      |           ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘bool sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>::connected() const’:
/usr/local/include/sigslot/signal.hpp:1052:17: error: ‘ptr’ was not declared in this scope
 1052 |         return !ptr.expired() && slot_state::connected();
      |                 ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:1057:19: error: ‘ptr’ was not declared in this scope
 1057 |         auto sp = ptr.lock();
      |                   ^~~
/usr/local/include/sigslot/signal.hpp:1063:21: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
 1063 |             ((*sp).*pmf)(args...);
      |                     ^~~
      |                     Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:1068:33: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
 1068 |         return get_function_ptr(pmf);
      |                                 ^~~
      |                                 Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>::get_object() const’:
/usr/local/include/sigslot/signal.hpp:1072:31: error: ‘ptr’ was not declared in this scope
 1072 |         return get_object_ptr(ptr);
      |                               ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_pmf_tracked<Pmf, WeakPtr, Args>::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:1077:23: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
 1077 |         return typeid(pmf);
      |                       ^~~
      |                       Pmf
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:1115:27: error: ‘conditional_t’ in namespace ‘std’ does not name a template type; did you mean ‘conditional’?
 1115 |     using cow_type = std::conditional_t<is_thread_safe<L>::value,
      |                           ^~~~~~~~~~~~~
      |                           conditional
/usr/local/include/sigslot/signal.hpp:1119:32: error: ‘conditional_t’ in namespace ‘std’ does not name a template type; did you mean ‘conditional’?
 1119 |     using cow_copy_type = std::conditional_t<is_thread_safe<L>::value,
      |                                ^~~~~~~~~~~~~
      |                                conditional
/usr/local/include/sigslot/signal.hpp:1201:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1201 |     std::enable_if_t<trait::is_callable_v<arg_list, Callable>, connection>
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1221:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1221 |     std::enable_if_t<trait::is_callable_v<ext_arg_list, Callable>, connection>
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1241:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1241 |     std::enable_if_t<trait::is_callable_v<arg_list, Pmf, Ptr> &&
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1261:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1261 |     std::enable_if_t<trait::is_callable_v<arg_list, Pmf, Ptr> &&
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1281:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1281 |     std::enable_if_t<trait::is_callable_v<ext_arg_list, Pmf, Ptr> &&
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1310:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1310 |     std::enable_if_t<!trait::is_callable_v<arg_list, Pmf> &&
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1340:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1340 |     std::enable_if_t<trait::is_callable_v<arg_list, Callable> &&
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1376:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1376 |     std::enable_if_t<(trait::is_callable_v<arg_list, Callable> ||
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1399:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
 1399 |     std::enable_if_t<!trait::is_callable_v<arg_list, Obj> &&
      |          ^~~~~~~~~~~
      |          enable_if
/usr/local/include/sigslot/signal.hpp:1522:12: error: ‘cow_copy_type’ does not name a type
 1522 |     inline cow_copy_type<list_type, Lockable> slots_reference() {
      |            ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1529:12: error: ‘make_slot’ function uses ‘auto’ type specifier without trailing return type
 1529 |     inline auto make_slot(A && ...a) {
      |            ^~~~
/usr/local/include/sigslot/signal.hpp:1529:12: note: deduced return type only available with ‘-std=c++14’ or ‘-std=gnu++14’
/usr/local/include/sigslot/signal.hpp:1589:5: error: ‘cow_type’ does not name a type; did you mean ‘lock_type’?
 1589 |     cow_type<list_type, Lockable> m_slots;
      |     ^~~~~~~~
      |     lock_type
/usr/local/include/sigslot/signal.hpp: In constructor ‘sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::signal_base(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >&&)’:
/usr/local/include/sigslot/signal.hpp:1146:14: error: ‘m_slots’ was not declared in this scope
 1146 |         swap(m_slots, o.m_slots);
      |              ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >& sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator=(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >&&)’:
/usr/local/include/sigslot/signal.hpp:1155:14: error: ‘m_slots’ was not declared in this scope
 1155 |         swap(m_slots, o.m_slots);
      |              ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator()(U&& ...)’:
/usr/local/include/sigslot/signal.hpp:1180:9: error: ‘cow_copy_type’ was not declared in this scope
 1180 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |         ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1180:32: error: expected primary-expression before ‘,’ token
 1180 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                ^
/usr/local/include/sigslot/signal.hpp:1180:42: error: expected primary-expression before ‘>’ token
 1180 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                          ^
/usr/local/include/sigslot/signal.hpp:1180:44: error: ‘ref’ was not declared in this scope; did you mean ‘std::ref’?
 1180 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                            ^~~
      |                                            std::ref
In file included from /usr/include/c++/9/functional:58,
                 from /usr/local/include/pangolin/utils/type_convert.h:33,
                 from /usr/local/include/pangolin/utils/params.h:31,
                 from /usr/local/include/pangolin/display/display.h:33,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/include/c++/9/bits/refwrap.h:370:5: note: ‘std::ref’ declared here
  370 |     ref(reference_wrapper<_Tp> __t) noexcept
      |     ^~~
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
                 from /usr/local/include/pangolin/windowing/window.h:35,
                 from /usr/local/include/pangolin/display/display.h:34,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/local/include/sigslot/signal.hpp:1180:50: error: there are no arguments to ‘slots_reference’ that depend on a template parameter, so a declaration of ‘slots_reference’ must be available [-fpermissive]
 1180 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                                  ^~~~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1180:50: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::disconnect(const Callable&, const Obj&)’:
/usr/local/include/sigslot/signal.hpp:1423:41: error: use of ‘auto’ in lambda parameter declaration only available with ‘-std=c++14’ or ‘-std=gnu++14’
 1423 |         return disconnect_if([&] (const auto &s) {
      |                                         ^~~~
/usr/local/include/sigslot/signal.hpp: In lambda function:
/usr/local/include/sigslot/signal.hpp:1424:21: error: base operand of ‘->’ is not a pointer
 1424 |             return s->has_object(obj) && s->has_callable(c);
      |                     ^~
/usr/local/include/sigslot/signal.hpp:1424:43: error: base operand of ‘->’ is not a pointer
 1424 |             return s->has_object(obj) && s->has_callable(c);
      |                                           ^~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::disconnect(sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:1439:46: error: ‘m_slots’ was not declared in this scope
 1439 |         for (auto &group : detail::cow_write(m_slots)) {
      |                                              ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::slot_count()’:
/usr/local/include/sigslot/signal.hpp:1486:9: error: ‘cow_copy_type’ was not declared in this scope
 1486 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |         ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1486:32: error: expected primary-expression before ‘,’ token
 1486 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                ^
/usr/local/include/sigslot/signal.hpp:1486:42: error: expected primary-expression before ‘>’ token
 1486 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                          ^
/usr/local/include/sigslot/signal.hpp:1486:44: error: ‘ref’ was not declared in this scope; did you mean ‘std::ref’?
 1486 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                            ^~~
      |                                            std::ref
In file included from /usr/include/c++/9/functional:58,
                 from /usr/local/include/pangolin/utils/type_convert.h:33,
                 from /usr/local/include/pangolin/utils/params.h:31,
                 from /usr/local/include/pangolin/display/display.h:33,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/include/c++/9/bits/refwrap.h:370:5: note: ‘std::ref’ declared here
  370 |     ref(reference_wrapper<_Tp> __t) noexcept
      |     ^~~
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
                 from /usr/local/include/pangolin/windowing/window.h:35,
                 from /usr/local/include/pangolin/display/display.h:34,
                 from /usr/local/include/pangolin/pangolin.h:38,
                 from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/local/include/sigslot/signal.hpp:1486:50: error: there are no arguments to ‘slots_reference’ that depend on a template parameter, so a declaration of ‘slots_reference’ must be available [-fpermissive]
 1486 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                                  ^~~~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::clean(sigslot::detail::slot_state*)’:
/usr/local/include/sigslot/signal.hpp:1504:46: error: ‘m_slots’ was not declared in this scope
 1504 |         for (auto &group : detail::cow_write(m_slots)) {
      |                                              ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::add_slot(sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::slot_ptr&&)’:
/usr/local/include/sigslot/signal.hpp:1538:42: error: ‘m_slots’ was not declared in this scope
 1538 |         auto &groups = detail::cow_write(m_slots);
      |                                          ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::disconnect_if(Cond&&)’:
/usr/local/include/sigslot/signal.hpp:1560:42: error: ‘m_slots’ was not declared in this scope
 1560 |         auto &groups = detail::cow_write(m_slots);
      |                                          ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::clear()’:
/usr/local/include/sigslot/signal.hpp:1584:27: error: ‘m_slots’ was not declared in this scope
 1584 |         detail::cow_write(m_slots).clear();
      |                           ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In instantiation of ‘void sigslot::signal_base< <template-parameter-1-1>, <template-parameter-1-2> >::operator()(U&& ...) [with U = {pangolin::VarState::Event}; Lockable = std::mutex; T = {pangolin::VarState::Event}]’:
/usr/local/include/pangolin/var/varstate.h:264:23:   required from ‘std::map<std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> >::iterator pangolin::VarState::AddUpgradedVar(const std::shared_ptr<pangolin::VarValue<T> >&, const iterator&, bool) [with T = bool; std::map<std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> >::iterator = std::_Rb_tree_iterator<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<pangolin::VarValueGeneric> > >]’
/usr/local/include/pangolin/var/varstate.h:205:13:   required from ‘std::shared_ptr<pangolin::VarValueGeneric> pangolin::VarState::GetOrCreateVar(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:83:50:   required from ‘pangolin::Var<T>::Var(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:88:35:   required from ‘pangolin::Var<T>::Var(const string&, const T&) [with T = bool; std::string = std::__cxx11::basic_string<char>]’
/usr/local/include/pangolin/display/widgets.h:153:50:   required from here
/usr/local/include/sigslot/signal.hpp:1180:65: error: ‘slots_reference’ was not declared in this scope
 1180 |         cow_copy_type<list_type, Lockable> ref = slots_reference();
      |                                                  ~~~~~~~~~~~~~~~^~
make[2]: *** [CMakeFiles/trajectoryError.dir/build.make:63：CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:76：CMakeFiles/trajectoryError.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2

大部分的原因就是CMakelist文件没有把库链接进来，所以只需要修改cmakelist文件为文章开头那样即可。
然后运行效果如图：
请添加图片描述
参考文章：
《视觉SLAM十四讲》第二版源码slambook2编译调试
[cmake:设置编译选项的讲究(add_compile_options和CMAKE_CXX_FLAGS的区别) 转自CSDN](https://blog.csdn.net/bianchengjingling22/article/details/88794329?ops_request_misc=&request_id=&biz_id=102&utm_term=add_compile_options(-std=c++11&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduweb~default-0-88794329.first_rank_v2_pc_rank_v29&spm=1018.2226.3001.4187)
(.text.startup+0x102)：对‘Sophus::SO3::operator*(Sophus::SO3 const&) const’未定义的引用

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slam十四讲评价轨迹的误差（trajectoryError）
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trajectoryError.cpp #include <sophus/se3.hpp> #include <unistd.h> #include <string> #include <iostream> #include <fstream> #include <cmath> #include <pangolin/pangolin.h> #include <Eigen/Core> #include &lt
视觉slam十四讲
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《视觉SLAM十四讲》是一本深入探讨视觉Simultaneous Localization And Mapping（SLAM）技术的资源分享。SLAM是机器人领域的一个核心问题，它涉及如何让机器人在未知环境中同时定位自身位置并构建环境地图。这门技术...
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1.运行计算轨迹误差程序报错fmt/core.h: 没有那个文件或目录 看一下CMakeLists.txt文件中的配置，如下所示： option(USE_UBUNTU_20 "Set to ON if you are using Ubuntu 20.04" OFF) find_package(Pangolin REQUIRED) if(USE_UBUNTU_20) message("You are using Ubuntu 20.04, fmt::fmt will be linked") f
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报错信息：CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o：在函数‘fmt::v9::detail::error_handler::on_error(char const*)’中：/usr/local/include/fmt/core.h:641：对‘fmt::v9::detail::throw_format_error(char const*)’未定义的引用。
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视觉SLAM十四讲ch4 useSophus.cpp make报错问题总结
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首先展示一下我的CMakelist cmake_minimum_required(VERSION 3.0) project(useSophus) add_compile_options(-std=c++11) set(CMAKE_BUILD_TYPE "Release") set(Sophus_LIBRARIES "/usr/local/lib/libSophus.so") # 为使用 sophus，需要使用find_package命令找到它 # include_directories("/usr/l
视觉SLAM十四讲-第四讲补充，运行例程代码错误解决trajectoryError.cpp:5:10: fatal error: sophus/se3.hpp: 没有那个文件或目录
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踩坑 Sophus 模板库安装及编译（视觉SLAM 十四讲第二版 ch4 ）
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在《视觉slam十四讲》第二版中，第4、7、8、9、10讲都需要Sophus库，因此我们需要安装Sophus库，并且需要的是Sophus模板库，因此很多人因为安装了非模板版本导致报错，下面提供Sophus模板版本安装方式，以及对应不报错版本。
《视觉SLAM十四讲》ch4中运行trajectoryError.cpp出现错误trajectory ./example/groundtruth.txt not found.trajectory .
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参考了几篇博客，尝试过修改相对地址或绝对地址；尝试过新建build文件下新建example文件，将groundtruth.txt 和 estimated.txt放入，没有解决。
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视觉SLAM十四讲gocopyimagesub报错
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在《视觉SLAM十四讲》中，gocopyimagesub是一个用于拷贝图像数据的函数，在使用时可能会报错。常见的报错信息是“unexpected fault address”或“runtime error: invalid memory address or nil pointer dereference”等。这种错误通常是由于未正确初始化图像数据指针或传递了错误的参数导致的。 解决该问题的方法是检查传递给gocopyimagesub函数的参数是否正确，特别是图像数据指针是否被正确初始化。另外，还应该检查程序是否存在内存泄漏等问题，可以使用一些内存检查工具来排查。如果问题仍然存在，建议参考其他用户的讨论或向相关技术支持人员寻求帮助。

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