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<Eigen::Transform<double, 3, 1> > generateNoisyTrajectory(int)’:
/home/guo/g2o仿真/src/optimize.cc:73:44: error: expected primary-expression before ‘(’ token
73 | Quaterniond noise_rot = Quaterniond(AngleAxisd(
| ^
/home/guo/g2o仿真/src/optimize.cc:75:32: error: expected ‘)’ before ‘;’ token
75 | Vector3d::UnitZ()));
| ^
| )
/home/guo/g2o仿真/src/optimize.cc:73:44: note: to match this ‘(’
73 | Quaterniond noise_rot = Quaterniond(AngleAxisd(
| ^
/home/guo/g2o仿真/src/optimize.cc: In function ‘int main()’:
/home/guo/g2o仿真/src/optimize.cc:162:9: error: ‘Matrix6d’ was not declared in this scope
162 | Matrix6d info = Matrix6d::Identity();
| ^~~~~~~~
/home/guo/g2o仿真/src/optimize.cc:163:30: error: ‘info’ was not declared in this scope
163 | edge->setInformation(info);
| ^~~~
/home/guo/g2o仿真/src/optimize.cc:178:5: error: ‘Matrix6d’ was not declared in this scope
178 | Matrix6d loopInfo = Matrix6d::Identity() * 10.0;
| ^~~~~~~~
/home/guo/g2o仿真/src/optimize.cc:179:30: error: ‘loopInfo’ was not declared in this scope
179 | loopEdge->setInformation(loopInfo);
| ^~~~~~~~
In file included from /usr/local/include/eigen3/Eigen/Geometry:42,
from /home/guo/g2o仿真/src/optimize.cc:4:
/usr/local/include/eigen3/Eigen/src/Geometry/Quaternion.h: In instantiation of ‘Derived& Eigen::QuaternionBase<Derived>::operator=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Block<const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >, 3, 1, false> >; Derived = Eigen::Quaternion<double>]’:
/usr/local/include/eigen3/Eigen/src/Geometry/Quaternion.h:313:90: required from ‘Eigen::Quaternion<Scalar, Options>::Quaternion(const Eigen::MatrixBase<OtherDerived>&) [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Block<const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >, 3, 1, false> >; _Scalar = double; int _Options = 0]’
/usr/local/include/eigen3/Eigen/src/Geometry/AngleAxis.h:201:18: required from ‘Eigen::AngleAxis<_Scalar>& Eigen::AngleAxis<Scalar>::operator=(const Eigen::MatrixBase<OtherDerived>&) [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Block<const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >, 3, 1, false> >; _Scalar = double]’
/usr/local/include/eigen3/Eigen/src/Geometry/AngleAxis.h:88:85: required from ‘Eigen::AngleAxis<Scalar>::AngleAxis(const Eigen::MatrixBase<OtherDerived>&) [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Block<const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >, 3, 1, false> >; _Scalar = double]’
/home/guo/g2o仿真/src/optimize.cc:75:31: required from here
/usr/local/include/eigen3/Eigen/src/Geometry/Quaternion.h:583:59: error: incomplete type ‘Eigen::internal::quaternionbase_assign_impl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Block<const Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >, 3, 1, false> >, 3, 1>’ used in nested name specifier
583 | internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/g2o_demo.dir/build.make:76：CMakeFiles/g2o_demo.dir/optimize.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:673：CMakeFiles/g2o_demo.dir/all] 错误 2
make: *** [Makefile:146：all] 错误 2
guo@guo-Dell-G15-5520:~/g2o仿真/src/build$
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这篇博客主要介绍了SLAM学习中Eigen库的几何模块，包括旋转矩阵、旋转向量、欧拉角、四元数、欧氏变换矩阵、仿射变换和射影变换等数据结构的使用。博客提到了所有数据结构都有单精度和双精度两种类型，并提供了双精度数据类型的示例。测试示例的结果并未在摘要中给出。
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