Sophus库安装及make报错解决记录

注：在安装Sophus之前必须先安装eigen。

1.安装

(1).下载Sophus安装包

git clone https://github.com/strasdat/Sophus.git

(2).进入Sophus文件夹

cd [path-to-Sophus]

(3).创建编译文件夹build

mkdir build

(4).进入build

cd build

(5).camke-make编译

cmake ..
make

(6).到这里没问题的话就直接安装

sudo make install

2.make报错

在cmake-make编译过程中，出现如下错误：

/home/xxx/Sophus/sophus/so2.cpp: In constructor ‘Sophus::SO2::SO2()’:
/home/xxx/Sophus/sophus/so2.cpp:32:29: error: lvalue required as left operand of assignment
   32 |   unit_complex_.real() = (1.);
      |                             ^
/home/xxx/Sophus/sophus/so2.cpp:33:29: error: lvalue required as left operand of assignment
   33 |   unit_complex_.imag() = (0.);
      |                             ^
make[2]: *** [CMakeFiles/Sophus.dir/build.make:66：CMakeFiles/Sophus.dir/sophus/so2.cpp.o] 错误 1
make[2]: 离开目录“/home/xxx/Sophus/build”
make[1]: *** [CMakeFiles/Makefile2:91：CMakeFiles/Sophus.dir/all] 错误 2
make[1]: 离开目录“/home/xxx/Sophus/build”
make: *** [Makefile:144：all] 错误 2

解决方法：打开 Sophus/sophus/so2.cpp文件修改报错内容

//将
SO2::SO2() 
{ 
 unit_complex_.real() = 1.; 
 unit_complex_.imag() = 0.; 
 }
//改为
SO2::SO2() 
{ 
   unit_complex_.real(1.); 
   unit_complex_.imag(0.); 
 }

然后重新cmake-make编译、安装，问题解决。

 参考：

(58条消息) 「Linux调试错误」Sophus/sophus/so2.cpp:33:26:error: lvalue required as left operand of assignment_Robot_Starscream的博客-CSDN博客