报错:guo@guo-Dell-G15-5520:~/g2o仿真/src/build$ make
Consolidate compiler generated dependencies of target g2o_demo
[ 50%] Building CXX object CMakeFiles/g2o_demo.dir/optimize.cc.o
/home/guo/g2o仿真/src/optimize.cc: In function ‘std::vector<g2o::SE3Quat> addNoise(const std::vector<g2o::SE3Quat>&, double, double, bool)’:
/home/guo/g2o仿真/src/optimize.cc:90:61: error: no match for ‘operator*’ (operand types are ‘g2o::SE3Quat’ and ‘const Quaternion’ {aka ‘const Eigen::Quaternion<double>’})
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~
| | |
| g2o::SE3Quat const Quaternion {aka const Eigen::Quaternion<double>}
In file included from /home/guo/g2o仿真/src/optimize.cc:11:
/opt/ros/noetic/include/g2o/types/slam3d/se3quat.h:99:22: note: candidate: ‘g2o::SE3Quat g2o::SE3Quat::operatonst Eigen::MatrixBase<U>&)’
325 | operator*(const TranspositionsBase<TranspositionsDerived> &transpositions,
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/Core/Transpositions.h:325:1: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/local/include/eigen3/Eigen/Householder:24,
from /usr/local/include/eigen3/Eigen/QR:15,
from /usr/local/include/eigen3/Eigen/SVD:11,
from /usr/local/include/eigen3/Eigen/Geometry:13,
from /home/guo/g2o仿真/src/optimize.cc:5:
/usr/local/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: 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>&)’
513 | 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/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::MatrixBase<Derived>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/local/include/eigen3/Eigen/Geometry:46,
from /home/guo/g2o仿真/src/optimize.cc:5:
/usr/local/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: candidate: ‘template<class Derived, class Scalar> Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits<T>::Scalar, Scalar>, const Derived, const typename Eigen::internal::plain_constant_type<Expr, Scalar>::type> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::UniformScaling<Scalar>&)’
135 | operator*(const MatrixBase<Derived>& matrix, const UniformScaling<Scalar>& s)
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::MatrixBase<Derived>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/local/include/eigen3/Eigen/SparseCore:62,
from /usr/local/include/eigen3/Eigen/Sparse:26,
from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30,
from /home/guo/g2o仿真/src/optimize.cc:10:
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:147:1: note: candidate: ‘template<class SparseDerived, class PermDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::SparseMatrixBase<OtherDerived>&, const Eigen::PermutationBase<PermutationDerived>&)’
147 | operator*(const SparseMatrixBase<SparseDerived>& matrix, const PermutationBase<PermDerived>& perm)
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:147:1: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::SparseMatrixBase<OtherDerived>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/local/include/eigen3/Eigen/SparseCore:62,
from /usr/local/include/eigen3/Eigen/Sparse:26,
from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30,
from /home/guo/g2o仿真/src/optimize.cc:10:
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:154:1: note: candidate: ‘template<class SparseDerived, class PermDerived> const Eigen::Product<PermDerived, SparseDerived, 2> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::SparseMatrixBase<OtherDerived>&)’
154 | operator*( const PermutationBase<PermDerived>& perm, const SparseMatrixBase<SparseDerived>& matrix)
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:154:1: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/local/include/eigen3/Eigen/SparseCore:62,
from /usr/local/include/eigen3/Eigen/Sparse:26,
from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30,
from /home/guo/g2o仿真/src/optimize.cc:10:
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:162:1: note: candidate: ‘template<class SparseDerived, class PermutationType> const Eigen::Product<SparseDerived, Eigen::Inverse<Rhs>, 2> Eigen::operator*(const Eigen::SparseMatrixBase<OtherDerived>&, const Eigen::InverseImpl<PermutationType, Eigen::PermutationStorage>&)’
162 | operator*(const SparseMatrixBase<SparseDerived>& matrix, const InverseImpl<PermutationType, PermutationStorage>& tperm)
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:162:1: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::SparseMatrixBase<OtherDerived>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/local/include/eigen3/Eigen/SparseCore:62,
from /usr/local/include/eigen3/Eigen/Sparse:26,
from /opt/ros/noetic/include/g2o/solvers/eigen/linear_solver_eigen.h:30,
from /home/guo/g2o仿真/src/optimize.cc:10:
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:171:1: note: candidate: ‘template<class SparseDerived, class PermutationType> const Eigen::Product<Eigen::Inverse<Rhs>, SparseDerived, 2> Eigen::operator*(const Eigen::InverseImpl<PermutationType, Eigen::PermutationStorage>&, const Eigen::SparseMatrixBase<OtherDerived>&)’
171 | operator*(const InverseImpl<PermutationType,PermutationStorage>& tperm, const SparseMatrixBase<SparseDerived>& matrix)
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h:171:1: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::InverseImpl<PermutationType, Eigen::PermutationStorage>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/local/include/eigen3/Eigen/Geometry:40,
from /home/guo/g2o仿真/src/optimize.cc:5:
/usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:80:66: note: candidate: ‘Eigen::Transform<double, 3, 2> Eigen::operator*(const Eigen::DiagonalMatrix<double, 3>&, const Eigen::Quaternion<double>&)’
80 | EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:80:110: note: no known conversion for argument 1 from ‘g2o::SE3Quat’ to ‘const Eigen::DiagonalMatrix<double, 3>&’
80 | EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:49: note: candidate: ‘template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)’
76 | EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
| ^~~~~~~~
/usr/local/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:49: note: template argument deduction/substitution failed:
/home/guo/g2o仿真/src/optimize.cc:90:81: note: ‘g2o::SE3Quat’ is not derived from ‘const Eigen::EigenBase<Derived>’
90 | noisy[i].setRotation(g2o::SE3Quat::exp(rotNoiseVec) * noisy[i].rotation());
| ^
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
from /usr/include/c++/9/bits/allocator.h:46,
from /usr/include/c++/9/string:41,
from /usr/include/c++/9/bits/locale_classes.h:40,
from /usr/include/c++/9/bits/ios_base.h:41,
from /usr/include/c++/9/ios:42,
from /usr/include/c++/9/ostream:38,
from /usr/include/c++/9/iostream:39,
from /home/guo/g2o仿真/src/optimize.cc:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = g2o::SE3Quat; _Args = {Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&}; _Tp = g2o::SE3Quat]’:
/usr/include/c++/9/bits/alloc_traits.h:483:4: required from ‘static void std::allocator_traits<std::allocator<_CharT> >::construct(std::allocator_traits<std::allocator<_CharT> >::allocator_type&, _Up*, _Args&& ...) [with _Up = g2o::SE3Quat; _Args = {Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&}; _Tp = g2o::SE3Quat; std::allocator_traits<std::allocator<_CharT> >::allocator_type = std::allocator<g2o::SE3Quat>]’
/usr/include/c++/9/bits/vector.tcc:115:30: required from ‘void std::vector<_Tp, _Alloc>::emplace_back(_Args&& ...) [with _Args = {Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1, 0, 3, 1>&}; _Tp = g2o::SE3Quat; _Alloc = std::allocator<g2o::SE3Quat>]’
/home/guo/g2o仿真/src/optimize.cc:66:54: required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: no matching function for call to ‘g2o::SE3Quat::SE3Quat(Eigen::AngleAxis<double>&, Eigen::Matrix<double, 3, 1>&)’
146 | { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
最新发布