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View Code? Open in Web Editor NEWedition 2 of the slambook
License: MIT License
slambook2's Issues
slam课程会以第二版的讲解吗？
高博您好，slam课程会以第二版的讲解吗？哈哈哈
ch12中dense_mapping.cpp中代码注释有误
ch12的dense_mapping.cpp中的第390行代码
// [ f_cur^T f_ref, -f2^T f2 ] [d_cur] = [f2^T t ]
下面的代码跟这一行的公式没有对应起来，仔细一看才发现在这一行注释中，第一个中括号内的 f_cur应为f2，也就是下面这样
// [ f2^T f_ref, -f2^T f2 ] [d_cur] = [f2^T t ]
这样才对吧
ch7 3d3d程序运行不对
calling bundle adjustment
iteration= 0 chi2= 1.815772 time= 2.3413e-05 cumTime= 2.3413e-05 edges= 75 schur= 0 lambda= 0.000787 levenbergIter= 1
iteration= 1 chi2= 1.815193 time= 1.2752e-05 cumTime= 3.6165e-05 edges= 75 schur= 0 lambda= 0.000524 levenbergIter= 1
iteration= 2 chi2= 1.815193 time= 1.0919e-05 cumTime= 4.7084e-05 edges= 75 schur= 0 lambda= 0.000350 levenbergIter= 1
iteration= 3 chi2= 1.815193 time= 1.0669e-05 cumTime= 5.7753e-05 edges= 75 schur= 0 lambda= 0.000233 levenbergIter= 1
iteration= 4 chi2= 1.815193 time= 1.0468e-05 cumTime= 6.8221e-05 edges= 75 schur= 0 lambda= 0.000155 levenbergIter= 1
iteration= 5 chi2= 1.815193 time= 1.0481e-05 cumTime= 7.8702e-05 edges= 75 schur= 0 lambda= 0.000104 levenbergIter= 1
iteration= 6 chi2= 1.815193 time= 2.1083e-05 cumTime= 9.9785e-05 edges= 75 schur= 0 lambda= 0.070714 levenbergIter= 5
iteration= 7 chi2= 1.815193 time= 1.112e-05 cumTime= 0.000110905 edges= 75 schur= 0 lambda= 0.047143 levenbergIter= 1
iteration= 8 chi2= 1.815193 time= 2.3951e-05 cumTime= 0.000134856 edges= 75 schur= 0 lambda= 12654823.401608 levenbergIter= 7
optimization costs time: 0.00041749 seconds.
after optimization:
T=
0.997207 0.0583427 -0.046639 0.137988
-0.0578775 0.99826 0.0112663 -0.065517
0.0472151 -0.00853546 0.998848 -0.0298169
0 0 0 1
double free or corruption (out)
已放弃 (核心已转储)
不太明白为啥运行失败
单独下载了第一版第七章代码，发现可以运行成功
有个疑问是 为啥第一版的代码里面 jacobian的顺序把单位阵放后面了?按照SE(3)扰动模型不是应该在前面吗？
您好，在编译第13讲实践项目时，出现如下错误，跟matrix成员函数bdcSvd相关，所使用的eigen库版本为3.3.7 ch13/algorithm.h/ error: ‘MatXX’ has no member named ‘bdcSvd’ auto svd = A.bdcSvd(Eigen::ComputeThinU | Eigen::ComputeThinV);
ch03和ch04中程序编译问题
第三讲中关于显示运动轨迹问题，在程序编译完成无异常之后，终端输入./plotTrajectory
出现如下错误
cannot find trajectory file at ./examples/trajectory.txt
第四讲中关于轨迹误差的编译
cmake ..
make
/home/wangchen/slambook/ch4/example/trajectoryError.cpp:5:10: fatal error: sophus/se3.hpp: 没有那个文件或目录
#include <sophus/se3.hpp>
^~~~~~~~~~~~~~~~
compilation terminated.
CMakeFiles/trajectoryError.dir/build.make:62: recipe for target 'CMakeFiles/trajectoryError.dir/trajectoryError.o' failed
make[2]: *** [CMakeFiles/trajectoryError.dir/trajectoryError.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/trajectoryError.dir/all' failed
make[1]: *** [CMakeFiles/trajectoryError.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
望老师空余时间可解答
What's the main difference between this version and the first version?
Hi Dr Gao,
Thanks for your efforts to make your work(tutorials and code etc) public, I am really looking forward to your new book. As the title, what's the main difference between this version and the first version? Thank you very much!
关于编译ch03中plotTrajectory.cpp的错误
当我编译时发生如下错误
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:13:28: error: ‘Isometry3d’ was not declared in this scope
void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator>);
^~~~~~~~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:13:65: error: ‘Isometry3d’ was not declared in this scope
void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator>);
^~~~~~~~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:13:65: error: template argument 1 is invalid
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:13:75: error: template argument 1 is invalid
void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator>);
^~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:13:75: error: template argument 2 is invalid
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp: In function ‘int main(int, char**)’:
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:17:10: error: ‘Isometry3d’ was not declared in this scope
vector<Isometry3d, Eigen::aligned_allocator> poses;
^~~~~~~~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:17:47: error: type/value mismatch at argument 1 in template parameter list for ‘template class Eigen::aligned_allocator’
vector<Isometry3d, Eigen::aligned_allocator> poses;
^~~~~~~~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:17:47: note: expected a type, got ‘Isometry3d’
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:17:57: error: template argument 1 is invalid
vector<Isometry3d, Eigen::aligned_allocator> poses;
^~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:17:57: error: template argument 2 is invalid
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:27:16: error: expected ‘;’ before ‘Twr’
Isometry3d Twr(Quaterniond(qw, qx, qy, qz));
^~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:28:5: error: ‘Twr’ was not declared in this scope
Twr.pretranslate(Vector3d(tx, ty, tz));
^~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:29:11: error: request for member ‘push_back’ in ‘poses’, which is of non-class type ‘int’
poses.push_back(Twr);
^~~~~~~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:31:34: error: request for member ‘size’ in ‘poses’, which is of non-class type ‘int’
cout << "read total " << poses.size() << " pose entries" << endl;
^~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp: At global scope:
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:39:28: error: ‘Isometry3d’ was not declared in this scope
void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator> poses) {
^~~~~~~~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:39:65: error: ‘Isometry3d’ was not declared in this scope
void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator> poses) {
^~~~~~~~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:39:65: error: template argument 1 is invalid
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:39:75: error: template argument 1 is invalid
void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator> poses) {
^~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:39:75: error: template argument 2 is invalid
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp: In function ‘void DrawTrajectory(int)’:
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:60:34: error: request for member ‘size’ in ‘poses’, which is of non-class type ‘int’
for (size_t i = 0; i < poses.size(); i++) {
^~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:62:28: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
Vector3d Ow = poses[i].translation();
^
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:63:28: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
Vector3d Xw = poses[i] * (0.1 * Vector3d(1, 0, 0));
^
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:64:28: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
Vector3d Yw = poses[i] * (0.1 * Vector3d(0, 1, 0));
^
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:65:28: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
Vector3d Zw = poses[i] * (0.1 * Vector3d(0, 0, 1));
^
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:79:34: error: request for member ‘size’ in ‘poses’, which is of non-class type ‘int’
for (size_t i = 0; i < poses.size(); i++) {
^~~~
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:82:24: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
auto p1 = poses[i], p2 = poses[i + 1];
^
/home/deeptuuk/code/slambook2/ch3/examples/plotTrajectory.cpp:84:18: error: ‘p2’ was not declared in this scope
glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]);
^~
examples/CMakeFiles/plotTrajectory.dir/build.make:62: recipe for target 'examples/CMakeFiles/plotTrajectory.dir/plotTrajectory.cpp.o' failed
make[2]: *** [examples/CMakeFiles/plotTrajectory.dir/plotTrajectory.cpp.o] Error 1
CMakeFiles/Makefile2:289: recipe for target 'examples/CMakeFiles/plotTrajectory.dir/all' failed
make[1]: *** [examples/CMakeFiles/plotTrajectory.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
Ch3与Ch4两个例子中Quaterniond类型的初始化不一致
Ch3中plotTrajectory.cpp中第24行的Quaterniond的顺序是qw, qx, qy, qz，但是Ch4中trajectoryError.cpp中第51行，Quaterniond顺序是qx, qy, qz, qw。而实际Quaternion.h头文件中定义的顺序是Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z)
但是奇怪的是把Ch4中的qw的顺序来回调整，得出来的轨迹似乎是一样的？
The dataset normalization function in ch9
您好，
请问能解释下第9章的代码中，common.cpp和rotation.h下面的几个函数么，即它们都做了什么事，以及关键变量的含义？
- AngleAxisRotationPoint。
- Camera 和 Angle-Axis & Center的相互转换中，Center指的是什么？
ch8 opencv 3.2.0 parallel_for_ doesn't support std::bind function
compiling error looks like this:
/home/ran/Documents/Playground/slambook2/ch8/direct_method.cpp: In function ‘void DirectPoseEstimationSingleLayer(const cv::Mat&, const cv::Mat&, const VecVector2d&, std::vector<double, std::allocator<double> >, Sophus::SE3d&)’:
/home/ran/Documents/Playground/slambook2/ch8/direct_method.cpp:172:36: error: invalid initialization of reference of type ‘const cv::ParallelLoopBody&’ from expression of type ‘std::_Bind_helper<false, void (JacobianAccumulator::*)(const cv::Range&), JacobianAccumulator*, const std::_Placeholder<1>&>::type {aka std::_Bind<void (JacobianAccumulator::*(JacobianAccumulator*, std::_Placeholder<1>))(const cv::Range&)>}’
std::bind(&JacobianAccumulator::accumulate_jacobian, &jaco_accu, std::placeholders::_1));
~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/opencv2/core.hpp:3216:0,
from /usr/include/opencv2/opencv.hpp:52,
from /home/ran/Documents/Playground/slambook2/ch8/direct_method.cpp:1:
/usr/include/opencv2/core/utility.hpp:478:17: note: in passing argument 2 of ‘void cv::parallel_for_(const cv::Range&, const cv::ParallelLoopBody&, double)’
CV_EXPORTS void parallel_for_(const Range& range, const ParallelLoopBody& body, double nstripes=-1.);go to opencv utility.hpp and found that the definition of parallel_for_ is like this:
CV_EXPORTS void parallel_for_(const Range& range, const ParallelLoopBody& body, double nstripes=-1.);so, we have to modify the class JacobianAccumulator, extend it from cv::ParallelLoopBody and change accumulate_jacobian function to it's operator override: virtual void operator()(const cv::Range& range) const
I have updated the source in my folk, you can download from here
float dd = d / 5000;
float dd = d / 5000;
Point2d p1 = pixel2cam(Point2f(image_points.at(i, 0), image_points.at(i, 1)), K);
why use dd = d / 5000? how to get this parameter?
Could NOT find CSPARSE (missing: CSPARSE_LIBRARY)
-- Could NOT find CSPARSE (missing: CSPARSE_LIBRARY)
CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
CSPARSE_LIBRARY
linked by target "myslam" in directory /media/zhangxin/Data/github/slambook2/ch13/src
linked by target "test_triangulation" in directory /media/zhangxin/Data/github/slambook2/ch13/test
linked by target "run_kitti_stereo" in directory /media/zhangxin/Data/github/slambook2/ch13/app
-- Configuring incomplete, errors occurred!
See also "/media/zhangxin/Data/github/slambook2/ch13/build/CMakeFiles/CMakeOutput.log".
See also "/media/zhangxin/Data/github/slambook2/ch13/build/CMakeFiles/CMakeError.log".CH3 关于eigenMatrix.cpp的可能的问题
你好 高博，
我在实验eigenMatrix.cpp代码时，发现两个疑惑的问题，若自己搞错了，也请大家指正～
1
Matrix<double, MATRIX_SIZE, MATRIX_SIZE> matrix_NN
= MatrixXd::Random(MATRIX_SIZE, MATRIX_SIZE);
我运行多次，发现这里返回的matrix_NN都一样，然后根据这里，得到了真正每次都随机生成不同矩阵
2
matrix_NN = matrix_NN * matrix_NN.transpose(); // 保证半正定
我记得实对称矩阵不一定半正定或正定吧？
但是在多次运行后（不同的matrix_NN和v_Nd），发现这里后面的cholesky分解来解方程也一直没问题，不是只有正定矩阵才能用该方法吗？
谢谢！
ch07/orb_self.cpp的代码笔误
第375行中
int idx_pq = i * 8 + k;
是否应该为
int idx_pq = i * 32 + k;
另外问一下，代码中的ORB_pattern[256 * 4]是否就是选取的特征点附近随机像素？可是这里是人为输入的，是有其他特殊含义吗？
另外书中有个笔误，就不另开issue了。p68倒数第二行的Panglin少了一个o。
如果是K未知的情况下，如何使用Pnp中的非线性优化同时求解k,R,t呢？
视频问题
hi，xiang,
已经买了您的新书， 想找个网上十四讲的视频 对应着看 学的会快一些，
现在好像不全了 我只找到了部分的视频 能不能私信发个 baidu pan 的 link 给我 先谢谢啦。
关于第三方库Pangolin 编译错误问题
mkdir build
cd build
cmake ..
cmake --build .
出现如下错误：
[ 73%] Linking CXX shared library libpangolin.so
[ 73%] Built target pangolin
Scanning dependencies of target HelloPangolin
[ 73%] Building CXX object examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/main.cpp.o
[ 74%] Linking CXX executable HelloPangolin
/home/deeptuuk/conda/lib/libtbb.so.2: undefined reference to __cxa_init_primary_exception@CXXABI_1.3.11' /home/deeptuuk/conda/lib/libtbb.so.2: undefined reference to std::__exception_ptr::exception_ptr::exception_ptr(void*)@CXXABI_1.3.11'
collect2: error: ld returned 1 exit status
examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/build.make:113: recipe for target 'examples/HelloPangolin/HelloPangolin' failed
make[2]: *** [examples/HelloPangolin/HelloPangolin] Error 1
CMakeFiles/Makefile2:268: recipe for target 'examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/all' failed
make[1]: *** [examples/HelloPangolin/CMakeFiles/HelloPangolin.dir/all] Error 2
Makefile:149: recipe for target 'all' failed
make: *** [all] Error 2
可否请作者制作一个docker简化配置？
作者您好，我们同学们在使用你这本书的时候，一个痛点便是配置环境，花费了很多时间，可否请您配置好一个可以运行书中示例的docker环境，供我们下载呢？万分感谢！
Ch12 plc安装过程中，依赖库冲突，导致部分软件包无法被安装
sudo apt-get install libpcl-dev pcl-tools
正在读取软件包列表... 完成
正在分析软件包的依赖关系树
正在读取状态信息... 完成
pcl-tools 已经是最新版 (1.8.1+dfsg1-2ubuntu2.18.04.1)。
有一些软件包无法被安装。
下列软件包有未满足的依赖关系：
libpcl-dev : 依赖: libvtk6-dev 但是它将不会被安装
依赖: libvtk6-qt-dev 但是它将不会被安装
E: 无法修正错误，因为您要求某些软件包保持现状，就是它们破坏了软件包间的依赖关系
使用了 sudo aptitude install libpcl-dev 解决方案如下：
删除 下列软件包：
-
libvtk7-dev [7.1.1+dfsg1-2 (bionic, now)] -
libvtk7-java [7.1.1+dfsg1-2 (bionic, now)] -
libvtk7-jni [7.1.1+dfsg1-2 (bionic, now)]
删除过一次，但是还是这样。。。并且还安装了一大堆其他的库文件。。
求助：如何解决？
高老師您好 我發現 github slambook2（也就是這個網址）上面下載的代碼的 3dparty裏面是空的 我自己下載的 lie group lib ———sophus I can camke and make ，but dont know how to write the CMakeList.txt
ch4中的程序执行问题
在ch4中最后执行轨迹误差时遇到如下问题:
trajectory ./example/groundtruth.txt not found.
trajectory ./example/estimated.txt not found.
trajectoryError: /home/zx/SLAM14CODE/slambook2-master/ch4/example/trajectoryError.cpp:22: int main(int, char**): Assertion `!groundtruth.empty() && !estimated.empty()' failed.
已放弃 (核心已转储)
望作者有空解答一下,万分感谢!
ch13/frontend类
您好，在首帧位姿进行初始化时，通过输出发现首帧变换矩阵（3*4）为0，1，0，0，0，0，1，0，0，0，0，1而不是1，0，0，0，0，1，0，0，0，0，1，0。这是您有意为之吗?另外，我从相对变量relative_motion_开始出现也没有找到它是什么时候第一次初始化的。麻烦您了
提取ORB特征点时是不是应该按照灰度图读取图片？
第七章的代码读取图片时都是按彩色图读取的，但是FAST关键点不应该是基于灰度的算法吗？这里不明白为什么不是按照灰度图读取。在pose_estimation_2d2d.cpp的程序里如果按照灰度图读取图片，那么得到的R,t参数与按照彩色读取是不一样的:
- 原来的读取参数为 CV_LOAD_IMAGE_COLOR
Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_COLOR);
Mat img_2 = imread(argv[2], CV_LOAD_IMAGE_COLOR);R is
[0.9985534106102478, -0.05339308467584758, 0.006345444621108698;
0.05321959721496264, 0.9982715997131746, 0.02492965459802003;
-0.007665548311697523, -0.02455588961730239, 0.9996690690694516]
t is
[-0.8829934995085544;
-0.05539655431450562;
0.4661048182498402]- 修改为cv::IMREAD_GRAYSCALE
Mat img_1 = imread(argv[1], cv::IMREAD_GRAYSCALE);
Mat img_2 = imread(argv[2], cv::IMREAD_GRAYSCALE);R is
[0.9956586755557854, -0.06056285980694839, 0.07068197650393594;
0.05735576134499068, 0.9972677254086454, 0.04655534876684903;
-0.07330837899609778, -0.04229921831748662, 0.9964118915883602]
t is
[-0.9753492080965818;
-0.2054788588410324;
0.08045098405089755]ch3 clion +ubuntu 16.04 運行 example 想話機器人的軌跡的時候，只能輸出 坐標的三個分量
/home/lzw/learn_slam/bookcode2/ch3/examples/cmake-build-debug/coordinateTransform
-0.0309731 0.73499 0.296108
Process finished with exit code 0
另一個畫機器人軌跡的cpp似乎沒有跑起來 但是也沒有報錯
Ch4 eigen3新老版本冲突
你好高博
之前在slambook1里使用的是sophus的.h老版本。在Slambook2里使用的sophus是hpp版本的。这hpp版本的sophus需要更高版本的eigen3。现在我的Ubuntu16.04上安装了eigen3.2和eigen3.3两个版本，并且修改了sophus的cmakelists（set了eigen3.3的路径）使得新版本的sophus可以成功找到新版本eigen3并编译安装成功。但是在运行ch4时还是会在编译时报错：
canning dependencies of target useSophus make[3]: *** No rule to make target '/home/lincoln/Documents/Sophus/build/libSophus.so', needed by 'useSophus'. Stop. make[3]: *** Waiting for unfinished jobs.... [ 50%] Building CXX object CMakeFiles/useSophus.dir/useSophus.cpp.o In file included from /usr/local/include/sophus/so3.hpp:8:0, from /usr/local/include/sophus/se3.hpp:7, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:5: /usr/local/include/sophus/so2.hpp:101:40: error: ‘ScalarBinaryOpTraits’ in namespace ‘Eigen’ does not name a template type using ReturnScalar = typename Eigen::ScalarBinaryOpTraits< ^ /usr/local/include/sophus/so2.hpp:105:26: error: ‘ReturnScalar’ was not declared in this scope using SO2Product = SO2<ReturnScalar<OtherDerived>>; ^ /usr/local/include/sophus/so2.hpp:105:39: error: template argument 1 is invalid using SO2Product = SO2<ReturnScalar<OtherDerived>>; ^ /usr/local/include/sophus/so2.hpp:108:32: error: ‘ReturnScalar’ was not declared in this scope using PointProduct = Vector2<ReturnScalar<PointDerived>>; ^ /usr/local/include/sophus/so2.hpp:108:45: error: template argument 1 is invalid using PointProduct = Vector2<ReturnScalar<PointDerived>>; ^ /usr/local/include/sophus/so2.hpp:111:43: error: ‘ReturnScalar’ was not declared in this scope using HomogeneousPointProduct = Vector3<ReturnScalar<HPointDerived>>; ^ /usr/local/include/sophus/so2.hpp:111:56: error: template argument 1 is invalid using HomogeneousPointProduct = Vector3<ReturnScalar<HPointDerived>>; ^ /usr/local/include/sophus/so2.hpp:209:15: error: ‘SO2Product’ does not name a type SOPHUS_FUNC SO2Product<OtherDerived> operator*( ^ /usr/local/include/sophus/so2.hpp:244:15: error: ‘PointProduct’ does not name a type SOPHUS_FUNC PointProduct<PointDerived> operator*( ^ /usr/local/include/sophus/so2.hpp:260:15: error: ‘HomogeneousPointProduct’ does not name a type SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*( ^ /usr/local/include/sophus/so2.hpp:284:38: error: ‘ReturnScalar’ was not declared in this scope std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/so2.hpp:284:51: error: template argument 2 is invalid std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/so2.hpp:284:63: error: template argument 1 is invalid std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/so2.hpp:284:75: error: ‘type’ in namespace ‘::’ does not name a type std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ In file included from /usr/local/include/sophus/se3.hpp:7:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:5: /usr/local/include/sophus/so3.hpp:105:40: error: ‘ScalarBinaryOpTraits’ in namespace ‘Eigen’ does not name a template type using ReturnScalar = typename Eigen::ScalarBinaryOpTraits< ^ /usr/local/include/sophus/so3.hpp:109:26: error: ‘ReturnScalar’ was not declared in this scope using SO3Product = SO3<ReturnScalar<OtherDerived>>; ^ /usr/local/include/sophus/so3.hpp:109:39: error: template argument 1 is invalid using SO3Product = SO3<ReturnScalar<OtherDerived>>; ^ /usr/local/include/sophus/so3.hpp:112:32: error: ‘ReturnScalar’ was not declared in this scope using PointProduct = Vector3<ReturnScalar<PointDerived>>; ^ /usr/local/include/sophus/so3.hpp:112:45: error: template argument 1 is invalid using PointProduct = Vector3<ReturnScalar<PointDerived>>; ^ /usr/local/include/sophus/so3.hpp:115:43: error: ‘ReturnScalar’ was not declared in this scope using HomogeneousPointProduct = Vector4<ReturnScalar<HPointDerived>>; ^ /usr/local/include/sophus/so3.hpp:115:56: error: template argument 1 is invalid using HomogeneousPointProduct = Vector4<ReturnScalar<HPointDerived>>; ^ /usr/local/include/sophus/so3.hpp:324:15: error: ‘SO3Product’ does not name a type SOPHUS_FUNC SO3Product<OtherDerived> operator*( ^ /usr/local/include/sophus/so3.hpp:357:15: error: ‘PointProduct’ does not name a type SOPHUS_FUNC PointProduct<PointDerived> operator*( ^ /usr/local/include/sophus/so3.hpp:372:15: error: ‘HomogeneousPointProduct’ does not name a type SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*( ^ /usr/local/include/sophus/so3.hpp:394:38: error: ‘ReturnScalar’ was not declared in this scope std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/so3.hpp:394:51: error: template argument 2 is invalid std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/so3.hpp:394:63: error: template argument 1 is invalid std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/so3.hpp:394:75: error: ‘type’ in namespace ‘::’ does not name a type std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ In file included from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:5:0: /usr/local/include/sophus/se3.hpp:85:40: error: ‘ScalarBinaryOpTraits’ in namespace ‘Eigen’ does not name a template type using ReturnScalar = typename Eigen::ScalarBinaryOpTraits< ^ /usr/local/include/sophus/se3.hpp:89:26: error: ‘ReturnScalar’ was not declared in this scope using SE3Product = SE3<ReturnScalar<OtherDerived>>; ^ /usr/local/include/sophus/se3.hpp:89:39: error: template argument 1 is invalid using SE3Product = SE3<ReturnScalar<OtherDerived>>; ^ /usr/local/include/sophus/se3.hpp:92:32: error: ‘ReturnScalar’ was not declared in this scope using PointProduct = Vector3<ReturnScalar<PointDerived>>; ^ /usr/local/include/sophus/se3.hpp:92:45: error: template argument 1 is invalid using PointProduct = Vector3<ReturnScalar<PointDerived>>; ^ /usr/local/include/sophus/se3.hpp:95:43: error: ‘ReturnScalar’ was not declared in this scope using HomogeneousPointProduct = Vector4<ReturnScalar<HPointDerived>>; ^ /usr/local/include/sophus/se3.hpp:95:56: error: template argument 1 is invalid using HomogeneousPointProduct = Vector4<ReturnScalar<HPointDerived>>; ^ /usr/local/include/sophus/se3.hpp:308:15: error: ‘SE3Product’ does not name a type SOPHUS_FUNC SE3Product<OtherDerived> operator*( ^ /usr/local/include/sophus/se3.hpp:325:15: error: ‘PointProduct’ does not name a type SOPHUS_FUNC PointProduct<PointDerived> operator*( ^ /usr/local/include/sophus/se3.hpp:335:15: error: ‘HomogeneousPointProduct’ does not name a type SOPHUS_FUNC HomogeneousPointProduct<HPointDerived> operator*( ^ /usr/local/include/sophus/se3.hpp:359:38: error: ‘ReturnScalar’ was not declared in this scope std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/se3.hpp:359:51: error: template argument 2 is invalid std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/se3.hpp:359:63: error: template argument 1 is invalid std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /usr/local/include/sophus/se3.hpp:359:75: error: ‘type’ in namespace ‘::’ does not name a type std::is_same<Scalar, ReturnScalar<OtherDerived>>::value>::type> ^ /home/lincoln/Documents/slambook2/ch4/useSophus.cpp: In function ‘int main(int, char**)’: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:60: error: no match for ‘operator*’ (operand types are ‘Sophus::SO3<double>’ and ‘Sophus::SO3d {aka Sophus::SO3<double>}’) Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/sophus/se3.hpp:7:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:5: /usr/local/include/sophus/so3.hpp:385:20: note: candidate: Sophus::SO3Base<Derived>::Line Sophus::SO3Base<Derived>::operator*(const Line&) const [with Derived = Sophus::SO3<double>; Sophus::SO3Base<Derived>::Line = Eigen::ParametrizedLine<double, 3, 0>; typename Eigen::internal::traits<T>::Scalar = double] SOPHUS_FUNC Line operator*(Line const& l) const { ^ /usr/local/include/sophus/so3.hpp:385:20: note: no known conversion for argument 1 from ‘Sophus::SO3d {aka Sophus::SO3<double>}’ to ‘const Line& {aka const Eigen::ParametrizedLine<double, 3, 0>&}’ In file included from /usr/local/include/Eigen/Core:70:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/include/c++/5/complex:386:5: note: candidate: template<class _Tp> std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const std::complex<_Tp>&) operator*(const complex<_Tp>& __x, const complex<_Tp>& __y) ^ /usr/include/c++/5/complex:386:5: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3<double>’ is not derived from ‘const std::complex<_Tp>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/Eigen/Core:70:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/include/c++/5/complex:395:5: note: candidate: template<class _Tp> std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const _Tp&) operator*(const complex<_Tp>& __x, const _Tp& __y) ^ /usr/include/c++/5/complex:395:5: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3<double>’ is not derived from ‘const std::complex<_Tp>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/Eigen/Core:70:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/include/c++/5/complex:404:5: note: candidate: template<class _Tp> std::complex<_Tp> std::operator*(const _Tp&, const std::complex<_Tp>&) operator*(const _Tp& __x, const complex<_Tp>& __y) ^ /usr/include/c++/5/complex:404:5: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3d {aka Sophus::SO3<double>}’ is not derived from ‘const std::complex<_Tp>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/Eigen/Householder:24:0, from /usr/local/include/Eigen/QR:17, from /usr/local/include/Eigen/SVD:11, from /usr/local/include/Eigen/Geometry:15, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:4: /usr/local/include/Eigen/src/Householder/HouseholderSequence.h:439:99: note: candidate: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&) typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h) ^ /usr/local/include/Eigen/src/Householder/HouseholderSequence.h:439:99: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3<double>’ is not derived from ‘const Eigen::MatrixBase<Derived>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/Eigen/Core:397:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/Transpositions.h:350:1: note: candidate: template<class TranspositionsDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<U>&) operator*(const TranspositionsBase<TranspositionsDerived> &transpositions, ^ /usr/local/include/Eigen/src/Core/Transpositions.h:350:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3<double>’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/Eigen/Core:397:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/Transpositions.h:338:1: note: candidate: template<class MatrixDerived, class TranspositionsDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&) operator*(const MatrixBase<MatrixDerived> &matrix, ^ /usr/local/include/Eigen/src/Core/Transpositions.h:338:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3<double>’ is not derived from ‘const Eigen::MatrixBase<Derived>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/Eigen/Core:396:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/PermutationMatrix.h:558:1: note: candidate: template<class PermutationDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<U>&) operator*(const PermutationBase<PermutationDerived> &permutation, ^ /usr/local/include/Eigen/src/Core/PermutationMatrix.h:558:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3<double>’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ In file included from /usr/local/include/Eigen/Core:396:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/PermutationMatrix.h:546:1: note: candidate: template<class MatrixDerived, class PermutationDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&) operator*(const MatrixBase<MatrixDerived> &matrix, ^ /usr/local/include/Eigen/src/Core/PermutationMatrix.h:546:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:35:62: note: ‘Sophus::SO3<double>’ is not derived from ‘const Eigen::MatrixBase<Derived>’ Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R; ^ /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:60: error: no match for ‘operator*’ (operand types are ‘Sophus::SE3<double>’ and ‘Sophus::SE3d {aka Sophus::SE3<double>}’) Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:5:0: /usr/local/include/sophus/se3.hpp:350:20: note: candidate: Sophus::SE3Base<Derived>::Line Sophus::SE3Base<Derived>::operator*(const Line&) const [with Derived = Sophus::SE3<double>; Sophus::SE3Base<Derived>::Line = Eigen::ParametrizedLine<double, 3, 0>; typename Eigen::internal::traits<T>::Scalar = double] SOPHUS_FUNC Line operator*(Line const& l) const { ^ /usr/local/include/sophus/se3.hpp:350:20: note: no known conversion for argument 1 from ‘Sophus::SE3d {aka Sophus::SE3<double>}’ to ‘const Line& {aka const Eigen::ParametrizedLine<double, 3, 0>&}’ In file included from /usr/local/include/Eigen/Core:70:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/include/c++/5/complex:386:5: note: candidate: template<class _Tp> std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const std::complex<_Tp>&) operator*(const complex<_Tp>& __x, const complex<_Tp>& __y) ^ /usr/include/c++/5/complex:386:5: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3<double>’ is not derived from ‘const std::complex<_Tp>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /usr/local/include/Eigen/Core:70:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/include/c++/5/complex:395:5: note: candidate: template<class _Tp> std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const _Tp&) operator*(const complex<_Tp>& __x, const _Tp& __y) ^ /usr/include/c++/5/complex:395:5: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3<double>’ is not derived from ‘const std::complex<_Tp>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /usr/local/include/Eigen/Core:70:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/include/c++/5/complex:404:5: note: candidate: template<class _Tp> std::complex<_Tp> std::operator*(const _Tp&, const std::complex<_Tp>&) operator*(const _Tp& __x, const complex<_Tp>& __y) ^ /usr/include/c++/5/complex:404:5: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3d {aka Sophus::SE3<double>}’ is not derived from ‘const std::complex<_Tp>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /usr/local/include/Eigen/Householder:24:0, from /usr/local/include/Eigen/QR:17, from /usr/local/include/Eigen/SVD:11, from /usr/local/include/Eigen/Geometry:15, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:4: /usr/local/include/Eigen/src/Householder/HouseholderSequence.h:439:99: note: candidate: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&) typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h) ^ /usr/local/include/Eigen/src/Householder/HouseholderSequence.h:439:99: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3<double>’ is not derived from ‘const Eigen::MatrixBase<Derived>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /usr/local/include/Eigen/Core:397:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/Transpositions.h:350:1: note: candidate: template<class TranspositionsDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<U>&) operator*(const TranspositionsBase<TranspositionsDerived> &transpositions, ^ /usr/local/include/Eigen/src/Core/Transpositions.h:350:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3<double>’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /usr/local/include/Eigen/Core:397:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/Transpositions.h:338:1: note: candidate: template<class MatrixDerived, class TranspositionsDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&) operator*(const MatrixBase<MatrixDerived> &matrix, ^ /usr/local/include/Eigen/src/Core/Transpositions.h:338:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3<double>’ is not derived from ‘const Eigen::MatrixBase<Derived>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /usr/local/include/Eigen/Core:396:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/PermutationMatrix.h:558:1: note: candidate: template<class PermutationDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<U>&) operator*(const PermutationBase<PermutationDerived> &permutation, ^ /usr/local/include/Eigen/src/Core/PermutationMatrix.h:558:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3<double>’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ In file included from /usr/local/include/Eigen/Core:396:0, from /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:3: /usr/local/include/Eigen/src/Core/PermutationMatrix.h:546:1: note: candidate: template<class MatrixDerived, class PermutationDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&) operator*(const MatrixBase<MatrixDerived> &matrix, ^ /usr/local/include/Eigen/src/Core/PermutationMatrix.h:546:1: note: template argument deduction/substitution failed: /home/lincoln/Documents/slambook2/ch4/useSophus.cpp:58:62: note: ‘Sophus::SE3<double>’ is not derived from ‘const Eigen::MatrixBase<Derived>’ Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt; ^ CMakeFiles/useSophus.dir/build.make:62: recipe for target 'CMakeFiles/useSophus.dir/useSophus.cpp.o' failed make[3]: *** [CMakeFiles/useSophus.dir/useSophus.cpp.o] Error 1 CMakeFiles/Makefile2:72: recipe for target 'CMakeFiles/useSophus.dir/all' failed make[2]: *** [CMakeFiles/useSophus.dir/all] Error 2 CMakeFiles/Makefile2:84: recipe for target 'CMakeFiles/useSophus.dir/rule' failed make[1]: *** [CMakeFiles/useSophus.dir/rule] Error 2 Makefile:118: recipe for target 'useSophus' failed make: *** [useSophus] Error 2
从报错内容看，ch4的useSophus虽然成功链接到sophus却并没有成功连接到eigen3.3。请问高博该如何解决这个问题
ch8中direct_method编译没问题，运行的时候显示段错误，请问可能是什么原因?
ch5 stereo 的基線單位是多少呢 ？感謝高老師
/home/lzw/桌面/基線.png
Ch12中的camera fy 为什么是负值？
请问： Ch12中的camera fy 为什么是负值？
ch3 useGeometry在ubuntu18.04，clion下进行编译出错
====================[ Build | eigenGeometry | Debug ]===========================
/snap/clion/82/bin/cmake/linux/bin/cmake --build /home/xhyu/slambook2/ch3/useGeometry/cmake-build-debug --target eigenGeometry -- -j 6
Scanning dependencies of target eigenGeometry
[ 33%] Building CXX object CMakeFiles/eigenGeometry.dir/home/xhyu/slambook2/ch3/examples/coordinateTransform.cpp.o
[ 66%] Linking CXX executable eigenGeometry
CMakeFiles/eigenGeometry.dir/home/xhyu/slambook2/ch3/examples/coordinateTransform.cpp.o: In function main': /usr/include/eigen3/Eigen/src/Core/IO.h:129: multiple definition of main'
CMakeFiles/eigenGeometry.dir/eigenGeometry.cpp.o:/home/xhyu/slambook2/ch3/useGeometry/eigenGeometry.cpp:13: first defined here
collect2: error: ld returned 1 exit status
CMakeFiles/eigenGeometry.dir/build.make:98: recipe for target 'eigenGeometry' failed
make[3]: *** [eigenGeometry] Error 1
CMakeFiles/Makefile2:72: recipe for target 'CMakeFiles/eigenGeometry.dir/all' failed
make[2]: *** [CMakeFiles/eigenGeometry.dir/all] Error 2
CMakeFiles/Makefile2:84: recipe for target 'CMakeFiles/eigenGeometry.dir/rule' failed
make[1]: *** [CMakeFiles/eigenGeometry.dir/rule] Error 2
Makefile:118: recipe for target 'eigenGeometry' failed
make: *** [eigenGeometry] Error 2
错误提示如上，然后经过阅读个人认为是main函数重复定义，另外在cmakelist中直接将两个文件都生成了可执行文件，冲突了，修改cmakelist或者修改任意一个main函数的文件名可以解决该问题，但是本人刚刚开始学习，所以不敢肯定，恳求大佬指点
Questions about ch13
Hello, I have looked over the source code of the project in ch13 and have two questions:
-
First question is about the calculation of baseline. Why is
t.sqauredNorm()used to calculate the baseline instead oft.norm()? -
Second question is about Map::InsertKeyFrame(). Why check if
frame_id_exists whenkeyframes_actually containskeyframe_id_?
公式6.41
请问公式6.41中的$\sigma$这一项是为什么？
CH6中的CMakeLists.txt文件中引用g2o的参数名有误
在MAC下编译，使用的FindG2O.cmake文件查找。但是CMakeLists.txt中这一句有问题，找不到值！include_directories(${G2O_INCLUDE_DIRS})
查看FindG2O.cmake发现应该改为：include_directories(${G2O_INCLUDE_DIR})
同时把target_link_libraries中的g2o_core和g2o_stuff修改为${G2O_CORE_LIBRARY} 和${G2O_STUFF_LIBRARY}
The ply file dumped by the ch9 example code cannot be opened
Hi, thanks for your book.
The example code in ch9 cannot dump a PLY file with a correct format, so that the cloudcompare software cannot open it.
You missed a necessary space here.
// Export extrinsic data (i.e. camera centers) as green points.
double angle_axis[3];
double center[3];
for (int i = 0; i < num_cameras(); ++i) {
const double *camera = cameras() + camera_block_size() * i;
CameraToAngelAxisAndCenter(camera, angle_axis, center);
of << center[0] << ' ' << center[1] << ' ' << center[2]
<< "0 255 0" << '\n';
// ~~~~~~~^~~~~~~~~~~~~~~~~~~~~ add a space before `0 255 0`
}ch13
您好，不知道您是否讲位姿输出到文件，我已仔细查看了轨迹输出应该是没问题的。我用同一个数据集（odo的03）跑了您的ch13和ORBSLAM2,对比ORBSLAM2的轨迹，这ch13输出的轨迹很乱，比如ch13估计平移的x值，ORBSLAM2一直是增加的，可ch13估计平移的x值却增增减减，呈波浪状。期待您的回复，谢谢
pose_estimation_3d2d.cpp输出格式控制的bug
pose_estimation_3d2d.cpp源文件:
233 pose = Sophus::SE3d::exp(dx) * pose;
234 lastCost = cost;
235
236 cout << "iteration " << iter << " cost=" << cout.precision(12) << cost << endl;236行的cout.precision函数的返回值是函数调用之前的精度值，并不是返回*this，结果这个返回值和后面的cost值混合在一起输出了:
iteration 0 cost=644765.3537799
iteration 1 cost=12727.290187745
iteration 2 cost=12319.869976045
iteration 3 cost=12319.609322181
iteration 4 cost=12319.608618764实际的输出应该是这样:
iteration 0 cost=44765.3537799
iteration 1 cost=727.290187745
iteration 2 cost=319.869976045
iteration 3 cost=319.609322181
iteration 4 cost=319.608618764ch12 中的Dense_mono有没有办法生成稠密点云文件
关于CH3编译错误问题
在ch3中建立build文件并对其进行cmake和make，make后出错如下：
error This file requires compiler and library support for the ISO C++ 2011 standard. This support must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
#error This file requires compiler and library support \
我在CMAKESETListe.txt添加了( CMAKE_CXX_FLAGS "-std=c++11 -O3")，重新创建build和编译仍出现错误
pose_estimation_3d2d.cpp雅克比矩阵公式输入错误
代码中雅克比矩阵:
201 J << -fx * inv_z,
202 0,
203 fx * pc[0] * inv_z2,
204 fx * pc[0] * pc[1] * inv_z2,
205 -fx - fx * pc[0] * pc[0] * inv_z2,
206 fx * pc[1] * inv_z,
207 0,
208 -fy * inv_z,
209 fy * pc[1] * inv_z, // 这里应该是inv_z2
210 fy + fy * pc[1] * pc[1] * inv_z2,
211 -fy * pc[0] * pc[1] * inv_z2,
212 -fy * pc[0] * inv_z;
213
214 H += J.transpose() * J;
215 b += -J.transpose() * e;
216 }第209行，根据书中的公式，此处应该是除以Z的平方，根据代码，也就是乘以inv_z2，估计漏了个2:
fy*pc[1]*inv_z2,高老師您好 直接在ch5文件夾裏面 新建build 然後進入 cmake .. ;make 回報很長的錯誤
lzw@lzw:/learn_slam/bookcode2/ch5/build$ cmake ../learn_slam/bookcode2/ch5/build$ make
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenCV: /opt/ros/kinetic (found version "3.3.1")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/lzw/learn_slam/bookcode2/ch5/build
lzw@lzw:
Scanning dependencies of target undistortImage
[ 12%] Building CXX object imageBasics/CMakeFiles/undistortImage.dir/undistortImage.cpp.o
[ 25%] Linking CXX executable undistortImage
[ 25%] Built target undistortImage
Scanning dependencies of target imageBasics
[ 37%] Building CXX object imageBasics/CMakeFiles/imageBasics.dir/imageBasics.cpp.o
[ 50%] Linking CXX executable imageBasics
[ 50%] Built target imageBasics
Scanning dependencies of target stereoVision
[ 62%] Building CXX object stereo/CMakeFiles/stereoVision.dir/stereoVision.cpp.o
[ 75%] Linking CXX executable stereoVision
[ 75%] Built target stereoVision
Scanning dependencies of target joinMap
[ 87%] Building CXX object rgbd/CMakeFiles/joinMap.dir/joinMap.cpp.o
In file included from /usr/local/include/sophus/so3.hpp:8:0,
from /usr/local/include/sophus/se3.hpp:7,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/local/include/sophus/so2.hpp:106:40: error: ‘ScalarBinaryOpTraits’ in namespace ‘Eigen’ does not name a template type
using ReturnScalar = typename Eigen::ScalarBinaryOpTraits<
^
/usr/local/include/sophus/so2.hpp:110:26: error: ‘ReturnScalar’ was not declared in this scope
using SO2Product = SO2<ReturnScalar>;
^
/usr/local/include/sophus/so2.hpp:110:39: error: template argument 1 is invalid
using SO2Product = SO2<ReturnScalar>;
^
/usr/local/include/sophus/so2.hpp:113:32: error: ‘ReturnScalar’ was not declared in this scope
using PointProduct = Vector2<ReturnScalar>;
^
/usr/local/include/sophus/so2.hpp:113:45: error: template argument 1 is invalid
using PointProduct = Vector2<ReturnScalar>;
^
/usr/local/include/sophus/so2.hpp:116:43: error: ‘ReturnScalar’ was not declared in this scope
using HomogeneousPointProduct = Vector3<ReturnScalar>;
^
/usr/local/include/sophus/so2.hpp:116:56: error: template argument 1 is invalid
using HomogeneousPointProduct = Vector3<ReturnScalar>;
^
/usr/local/include/sophus/so2.hpp:214:15: error: ‘SO2Product’ does not name a type
SOPHUS_FUNC SO2Product operator*(
^
/usr/local/include/sophus/so2.hpp:249:15: error: ‘PointProduct’ does not name a type
SOPHUS_FUNC PointProduct operator*(
^
/usr/local/include/sophus/so2.hpp:265:15: error: ‘HomogeneousPointProduct’ does not name a type
SOPHUS_FUNC HomogeneousPointProduct operator*(
^
/usr/local/include/sophus/so2.hpp:289:38: error: ‘ReturnScalar’ was not declared in this scope
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/so2.hpp:289:51: error: template argument 2 is invalid
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/so2.hpp:289:63: error: template argument 1 is invalid
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/so2.hpp:289:75: error: ‘type’ in namespace ‘::’ does not name a type
std::is_same<Scalar, ReturnScalar>::value>::type>
^
In file included from /usr/local/include/sophus/se3.hpp:7:0,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/local/include/sophus/so3.hpp:110:40: error: ‘ScalarBinaryOpTraits’ in namespace ‘Eigen’ does not name a template type
using ReturnScalar = typename Eigen::ScalarBinaryOpTraits<
^
/usr/local/include/sophus/so3.hpp:114:26: error: ‘ReturnScalar’ was not declared in this scope
using SO3Product = SO3<ReturnScalar>;
^
/usr/local/include/sophus/so3.hpp:114:39: error: template argument 1 is invalid
using SO3Product = SO3<ReturnScalar>;
^
/usr/local/include/sophus/so3.hpp:117:32: error: ‘ReturnScalar’ was not declared in this scope
using PointProduct = Vector3<ReturnScalar>;
^
/usr/local/include/sophus/so3.hpp:117:45: error: template argument 1 is invalid
using PointProduct = Vector3<ReturnScalar>;
^
/usr/local/include/sophus/so3.hpp:120:43: error: ‘ReturnScalar’ was not declared in this scope
using HomogeneousPointProduct = Vector4<ReturnScalar>;
^
/usr/local/include/sophus/so3.hpp:120:56: error: template argument 1 is invalid
using HomogeneousPointProduct = Vector4<ReturnScalar>;
^
/usr/local/include/sophus/so3.hpp:329:15: error: ‘SO3Product’ does not name a type
SOPHUS_FUNC SO3Product operator*(
^
/usr/local/include/sophus/so3.hpp:362:15: error: ‘PointProduct’ does not name a type
SOPHUS_FUNC PointProduct operator*(
^
/usr/local/include/sophus/so3.hpp:377:15: error: ‘HomogeneousPointProduct’ does not name a type
SOPHUS_FUNC HomogeneousPointProduct operator*(
^
/usr/local/include/sophus/so3.hpp:399:38: error: ‘ReturnScalar’ was not declared in this scope
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/so3.hpp:399:51: error: template argument 2 is invalid
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/so3.hpp:399:63: error: template argument 1 is invalid
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/so3.hpp:399:75: error: ‘type’ in namespace ‘::’ does not name a type
std::is_same<Scalar, ReturnScalar>::value>::type>
^
In file included from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:0:
/usr/local/include/sophus/se3.hpp:85:40: error: ‘ScalarBinaryOpTraits’ in namespace ‘Eigen’ does not name a template type
using ReturnScalar = typename Eigen::ScalarBinaryOpTraits<
^
/usr/local/include/sophus/se3.hpp:89:26: error: ‘ReturnScalar’ was not declared in this scope
using SE3Product = SE3<ReturnScalar>;
^
/usr/local/include/sophus/se3.hpp:89:39: error: template argument 1 is invalid
using SE3Product = SE3<ReturnScalar>;
^
/usr/local/include/sophus/se3.hpp:92:32: error: ‘ReturnScalar’ was not declared in this scope
using PointProduct = Vector3<ReturnScalar>;
^
/usr/local/include/sophus/se3.hpp:92:45: error: template argument 1 is invalid
using PointProduct = Vector3<ReturnScalar>;
^
/usr/local/include/sophus/se3.hpp:95:43: error: ‘ReturnScalar’ was not declared in this scope
using HomogeneousPointProduct = Vector4<ReturnScalar>;
^
/usr/local/include/sophus/se3.hpp:95:56: error: template argument 1 is invalid
using HomogeneousPointProduct = Vector4<ReturnScalar>;
^
/usr/local/include/sophus/se3.hpp:308:15: error: ‘SE3Product’ does not name a type
SOPHUS_FUNC SE3Product operator*(
^
/usr/local/include/sophus/se3.hpp:325:15: error: ‘PointProduct’ does not name a type
SOPHUS_FUNC PointProduct operator*(
^
/usr/local/include/sophus/se3.hpp:335:15: error: ‘HomogeneousPointProduct’ does not name a type
SOPHUS_FUNC HomogeneousPointProduct operator*(
^
/usr/local/include/sophus/se3.hpp:359:38: error: ‘ReturnScalar’ was not declared in this scope
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/se3.hpp:359:51: error: template argument 2 is invalid
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/se3.hpp:359:63: error: template argument 1 is invalid
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/usr/local/include/sophus/se3.hpp:359:75: error: ‘type’ in namespace ‘::’ does not name a type
std::is_same<Scalar, ReturnScalar>::value>::type>
^
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp: In function ‘int main(int, char**)’:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:48: error: no match for ‘operator*’ (operand types are ‘Sophus::SE3d {aka Sophus::SE3}’ and ‘Eigen::Vector3d {aka Eigen::Matrix<double, 3, 1>}’)
Eigen::Vector3d pointWorld = T * point;
^
In file included from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:0:
/usr/local/include/sophus/se3.hpp:350:20: note: candidate: Sophus::SE3Base::Line Sophus::SE3Base::operator*(const Line&) const [with Derived = Sophus::SE3; Sophus::SE3Base::Line = Eigen::ParametrizedLine<double, 3, 0>; typename Eigen::internal::traits::Scalar = double]
SOPHUS_FUNC Line operator*(Line const& l) const {
^
/usr/local/include/sophus/se3.hpp:350:20: note: no known conversion for argument 1 from ‘Eigen::Vector3d {aka Eigen::Matrix<double, 3, 1>}’ to ‘const Line& {aka const Eigen::ParametrizedLine<double, 3, 0>&}’
In file included from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/core/cvstd.inl.hpp:47:0,
from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/core.hpp:3281,
from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/opencv.hpp:52,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:3:
/usr/include/c++/5/complex:386:5: note: candidate: template std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const std::complex<_Tp>&)
operator*(const complex<_Tp>& __x, const complex<_Tp>& __y)
^
/usr/include/c++/5/complex:386:5: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Sophus::SE3d {aka Sophus::SE3}’ is not derived from ‘const std::complex<_Tp>’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/core/cvstd.inl.hpp:47:0,
from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/core.hpp:3281,
from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/opencv.hpp:52,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:3:
/usr/include/c++/5/complex:395:5: note: candidate: template std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const _Tp&)
operator*(const complex<_Tp>& __x, const _Tp& __y)
^
/usr/include/c++/5/complex:395:5: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Sophus::SE3d {aka Sophus::SE3}’ is not derived from ‘const std::complex<_Tp>’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/core/cvstd.inl.hpp:47:0,
from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/core.hpp:3281,
from /opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/opencv.hpp:52,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:3:
/usr/include/c++/5/complex:404:5: note: candidate: template std::complex<_Tp> std::operator*(const _Tp&, const std::complex<_Tp>&)
operator*(const _Tp& __x, const complex<_Tp>& __y)
^
/usr/include/c++/5/complex:404:5: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Eigen::Vector3d {aka Eigen::Matrix<double, 3, 1>}’ is not derived from ‘const std::complex<_Tp>’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /usr/include/eigen3/Eigen/Householder:24:0,
from /usr/include/eigen3/Eigen/QR:17,
from /usr/include/eigen3/Eigen/Dense:4,
from /usr/local/include/sophus/rotation_matrix.hpp:7,
from /usr/local/include/sophus/so3.hpp:7,
from /usr/local/include/sophus/se3.hpp:7,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:439:99: note: candidate: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(c
^
/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:439:99: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Sophus::SE3d {aka Sophus::SE3}’ is not derived from ‘const Eigen::MatrixBase’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /usr/include/eigen3/Eigen/Core:397:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/local/include/sophus/rotation_matrix.hpp:7,
from /usr/local/include/sophus/so3.hpp:7,
from /usr/local/include/sophus/se3.hpp:7,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:350:1: note: candidate: template<class TranspositionsDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::TranspositionsBase&, const Eigen::MatrixBase&)
operator*(const TranspositionsBase &transpositions,
^
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:350:1: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Sophus::SE3d {aka Sophus::SE3}’ is not derived from ‘const Eigen::TranspositionsBase’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /usr/include/eigen3/Eigen/Core:397:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/local/include/sophus/rotation_matrix.hpp:7,
from /usr/local/include/sophus/so3.hpp:7,
from /usr/local/include/sophus/se3.hpp:7,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:338:1: note: candidate: template<class MatrixDerived, class TranspositionsDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::TranspositionsBase&)
operator*(const MatrixBase &matrix,
^
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:338:1: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Sophus::SE3d {aka Sophus::SE3}’ is not derived from ‘const Eigen::MatrixBase’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /usr/include/eigen3/Eigen/Core:396:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/local/include/sophus/rotation_matrix.hpp:7,
from /usr/local/include/sophus/so3.hpp:7,
from /usr/local/include/sophus/se3.hpp:7,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:558:1: note: candidate: template<class PermutationDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::PermutationBase&, const Eigen::MatrixBase&)
operator*(const PermutationBase &permutation,
^
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:558:1: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Sophus::SE3d {aka Sophus::SE3}’ is not derived from ‘const Eigen::PermutationBase’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /usr/include/eigen3/Eigen/Core:396:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/local/include/sophus/rotation_matrix.hpp:7,
from /usr/local/include/sophus/so3.hpp:7,
from /usr/local/include/sophus/se3.hpp:7,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:546:1: note: candidate: template<class MatrixDerived, class PermutationDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::PermutationBase&)
operator*(const MatrixBase &matrix,
^
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:546:1: note: template argument deduction/substitution failed:
/home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:62:50: note: ‘Sophus::SE3d {aka Sophus::SE3}’ is not derived from ‘const Eigen::MatrixBase’
Eigen::Vector3d pointWorld = T * point;
^
In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:126:0,
from /usr/include/eigen3/Eigen/Core:345,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/local/include/sophus/rotation_matrix.hpp:7,
from /usr/local/include/sophus/so3.hpp:7,
from /usr/local/include/sophus/se3.hpp:7,
from /home/lzw/learn_slam/bookcode2/ch5/rgbd/joinMap.cpp:5:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h:88:1: note: candidate: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<double, std::complex >, const Eigen::Matrix<double, 3, 1> > Eigen::operator*(const std::complex&, const StorageBaseType&)
operator*(const std::complex& scalar, const StorageBaseType& matrix)
^
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h:88:1: note: no known conversion for argument 1 from ‘Sophus::SE3d {aka Sophus::SE3}’ to ‘const std::complex&’
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h:83:1: note: candidate: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
operator*(const Scalar& scalar, const StorageBaseType& matrix)
^
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h:83:1: note: no known conversion for argument 1 from ‘Sophus::SE3d {aka Sophus::SE3}’ to ‘const Scalar& {aka const double&}’
rgbd/CMakeFiles/joinMap.dir/build.make:62: recipe for target 'rgbd/CMakeFiles/joinMap.dir/joinMap.cpp.o' failed
make[2]: *** [rgbd/CMakeFiles/joinMap.dir/joinMap.cpp.o] Error 1
CMakeFiles/Makefile2:234: recipe for target 'rgbd/CMakeFiles/joinMap.dir/all' failed
make[1]: *** [rgbd/CMakeFiles/joinMap.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
ch13 运行时出现段错误（核心已转储）
查看产生的core文件，给出如下提示：
Core was generated by `bin/run_kitti_stereo'.
Program terminated with signal SIGSEGV, Segmentation fault.
#0 0x00007f80847135da in cv::FileNode::ptr() [clone .localalias.329] ()
from /usr/local/lib/libopencv_core.so.4.1
小白一枚，不知道是什么原因，还请赐教
English version?
Hello!
Thank you for your work. I want to ask if the English version of the slambook2 will be available?
ch3 poltTrajectory 运行出现错误
cannot find trajectory file at ./trajectory.txt
是不是
string trajectory_file = "./trajectory.txt";
这句的问题？怎么修改呢？
高博，可否发《slam十四讲》第二版的目录？
让我们一睹为快，看看相较于第一版，有哪些新内容。
ch5 imageBasics程序make时报错
在做第五讲的OpenCV基本操作的实践，程序make时报错如下：
[ 50%] Building CXX object CMakeFiles/imageBasics.dir/imageBasics.cpp.o
[100%] Linking CXX executable imageBasics
/usr/bin/ld: 找不到 -lEigen3::Eigen
collect2: error: ld returned 1 exit status
CMakeFiles/imageBasics.dir/build.make:155: recipe for target 'imageBasics' failed
make[2]: *** [imageBasics] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/imageBasics.dir/all' failed
make[1]: *** [CMakeFiles/imageBasics.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
一开始有更多的类似/usr/bin/ld: 找不到 -l*** 的错误，但是通过建立相应的.so文件软链接的方式消除了。不过这个Eigen库不是没有.so文件吗，实在不知道怎么解决了。还望知道的朋友解答一下
When will book version 2 be released?
Hello Dr. Gao,
Thank you for bringing vSLAM accessible to a variety of audience. I'm wondering when the second version draft will be released? Can't wait to read it!
Chapter 11. Missing ***associate.txt*** in program ***gen_vocab_large.cpp***
missing associate.txt file in ch11 dir which is need in gen_vocab_large.cpp
string dataset_dir = argv[1]; ifstream fin ( dataset_dir+"/**associate.txt**" );
ch12中单目稠密重建用kdevelop配置启动，行为中参数填入test_data,会报错
Reading image files failed!
ch7 pose_estimation_3d2d
calling bundle adjustment by g2o
pose_estimation_3d2d: /usr/include/eigen3/Eigen/src/Core/MapBase.h:195: void Eigen::MapBase<Derived, 0>::checkSanity(typename Eigen::internal::enable_if<(Eigen::internal::traits::Alignment > 0), void*>::type) const [with T = Eigen::Map<Eigen::Matrix<double, 2, 6>, 32, Eigen::Stride<0, 0> >; Derived = Eigen::Map<Eigen::Matrix<double, 2, 6>, 32, Eigen::Stride<0, 0> >; typename Eigen::internal::enable_if<(Eigen::internal::traits::Alignment > 0), void*>::type = void*]: Assertion `( ((internal::UIntPtr(m_data) % internal::traits::Alignment) == 0) || (cols() * rows() * minInnerStride * sizeof(Scalar)) < internal::traits::Alignment ) && "data is not aligned"' failed.
Signal: SIGABRT (Aborted)
bundleAdjustmentG2O(pts_3d_eigen, pts_2d_eigen, K, pose_g2o);运行这句话老是触发eigen的警告
eigen_assert(( ((internal::UIntPtr(m_data) % internal::traits::Alignment) == 0)
|| (cols() * rows() * minInnerStride * sizeof(Scalar)) < internal::traits::Alignment ) && "data is not aligned");
一会能运行一会不能运行，这是什么错误，高博？
ch5 运行imagebasics和undistortImage都出现了问题，是opencv的问题么？如何解决呢？
Scanning dependencies of target imageBasics
Scanning dependencies of target undistortImage
[ 50%] Building CXX object CMakeFiles/undistortImage.dir/undistortImage.cpp.o
[ 50%] Building CXX object CMakeFiles/imageBasics.dir/imageBasics.cpp.o
[ 75%] Linking CXX executable imageBasics
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘main’中：
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:13：对‘cv::imread(cv::String const&, int)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:23：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:24：对‘cv::waitKey(int)’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘main’中：
/usr/local/include/opencv2/core/mat.hpp:1267：对‘cv::noArray()’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘main’中：
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:56：对‘cv::Mat::setTo(cv::_InputArray const&, cv::_InputArray const&)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:57：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:58：对‘cv::waitKey(int)’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘main’中：
/usr/local/include/opencv2/core/mat.hpp:1267：对‘cv::noArray()’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘main’中：
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:62：对‘cv::Mat::setTo(cv::_InputArray const&, cv::_InputArray const&)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:63：对‘cv::imshow(cv::String const&, cv::_InputArray const&)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:64：对‘cv::imshow(cv::String const&, cv::InputArray const&)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:65：对‘cv::waitKey(int)’未定义的引用
/home/wei/下载/slambook2-master/ch5/imageBasics/imageBasics.cpp:68：对‘cv::destroyAllWindows()’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::String::String(char const*)’中：
/usr/local/include/opencv2/core/cvstd.hpp:602：对‘cv::String::allocate(unsigned long)’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::String::~String()’中：
/usr/local/include/opencv2/core/cvstd.hpp:648：对‘cv::String::deallocate()’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::Mat::Mat(cv::Mat const&)’中：
/usr/local/include/opencv2/core/mat.inl.hpp:569：对‘cv::Mat::copySize(cv::Mat const&)’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::Mat::~Mat()’中：
/usr/local/include/opencv2/core/mat.inl.hpp:774：对‘cv::fastFree(void*)’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::Mat::clone() const’中：
/usr/local/include/opencv2/core/mat.inl.hpp:846：对‘cv::Mat::copyTo(cv::OutputArray const&) const’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::Mat::release()’中：
/usr/local/include/opencv2/core/mat.inl.hpp:886：对‘cv::Mat::deallocate()’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::Mat::operator()(cv::Rect const&) const’中：
/usr/local/include/opencv2/core/mat.inl.hpp:912：对‘cv::Mat::Mat(cv::Mat const&, cv::Rect const&)’未定义的引用
CMakeFiles/imageBasics.dir/imageBasics.cpp.o：在函数‘cv::Mat::operator=(cv::Mat&&)’中：
/usr/local/include/opencv2/core/mat.inl.hpp:1455：对‘cv::fastFree(void*)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/imageBasics.dir/build.make:83: recipe for target 'imageBasics' failed
make[2]: *** [imageBasics] Error 1
CMakeFiles/Makefile2:72: recipe for target 'CMakeFiles/imageBasics.dir/all' failed
ch5 小建議
//undistortImage
double x = (u - cx) / fx, y = (v - cy) / fy;
double r = sqrt(x * x + y * y);
double x_distorted = x * (1 + k1 * r * r + k2 * r * r * r * r) + 2 * p1 * x * y + p2 * (r * r + 2 * x * x);
double y_distorted = y * (1 + k1 * r * r + k2 * r * r * r * r) + p1 * (r * r + 2 * y * y) + 2 * p2 * x * y;
double u_distorted = fx * x_distorted + cx;
double v_distorted = fy * y_distorted + cy;
//Perspective
//stereoVIsion.cpp
double x = (u - cx) / fx;
double y = (v - cy) / fy;
double depth = fx * b / (disparity.at<float>(v, u));
point[0] = x * depth;
point[1] = y * depth;
point[2] = depth;
// 如果沒有搞錯的話這邊乘depth => [~P]c相機座標 slam2 book page 102
得到P的歸一化座標 Pc = [X / Z, Y / Z, 1]
slam2 book page 105
計算像素的3D相機座標,生成點雲(Point Cloud)
slam2 book page 115
座標關係提到的：
通過雙目相機的幾何模型把它變換到相機的3D空間中
視差數據結合了相機內參 baseline即確定各點在三維空間中的位置
能不能在這兩段code後面,補個小說明解釋座標關係差別加深印象？
後面3個例子真的超好！！！
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