Sophus 2.3 在编译时不通过（已解决）

[woshizhangbowen]

zbw@zbw-virtual-machine:/media/zbw/zbw2/zbw/fast-livo/Sophus/build$ make /usr/local/bin/cmake -S/media/zbw/zbw2/zbw/fast-livo/Sophus -B/media/zbw/zbw2/zbw/fast-livo/Sophus/build --check-build-system CMakeFiles/Makefile.cmake 0 /usr/local/bin/cmake -E cmake_progress_start /media/zbw/zbw2/zbw/fast-livo/Sophus/build/CMakeFiles /media/zbw/zbw2/zbw/fast-livo/Sophus/build//CMakeFiles/progress.marks make -f CMakeFiles/Makefile2 all make[1]: 进入目录“/media/zbw/zbw2/zbw/fast-livo/Sophus/build” make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/depend make[2]: 进入目录“/media/zbw/zbw2/zbw/fast-livo/Sophus/build” cd /media/zbw/zbw2/zbw/fast-livo/Sophus/build && /usr/local/bin/cmake -E cmake_depends "Unix Makefiles" /media/zbw/zbw2/zbw/fast-livo/Sophus /media/zbw/zbw2/zbw/fast-livo/Sophus /media/zbw/zbw2/zbw/fast-livo/Sophus/build /media/zbw/zbw2/zbw/fast-livo/Sophus/build /media/zbw/zbw2/zbw/fast-livo/Sophus/build/CMakeFiles/Sophus.dir/DependInfo.cmake --color= make[2]: 离开目录“/media/zbw/zbw2/zbw/fast-livo/Sophus/build” make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/build make[2]: 进入目录“/media/zbw/zbw2/zbw/fast-livo/Sophus/build” [ 5%] Building CXX object CMakeFiles/Sophus.dir/sophus/so2.cpp.o /usr/bin/c++ -DSophus_EXPORTS -I/usr/local/include/eigen3 -O3 -DNDEBUG -fPIC -Wall -Werror -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas -MD -MT CMakeFiles/Sophus.dir/sophus/so2.cpp.o -MF CMakeFiles/Sophus.dir/sophus/so2.cpp.o.d -o CMakeFiles/Sophus.dir/sophus/so2.cpp.o -c /media/zbw/zbw2/zbw/fast-livo/Sophus/sophus/so2.cpp /media/zbw/zbw2/zbw/fast-livo/Sophus/sophus/so2.cpp: In constructor ‘Sophus::SO2::SO2()’: /media/zbw/zbw2/zbw/fast-livo/Sophus/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment 32 | unitcomplex.real() = 1.; | ^~ /media/zbw/zbw2/zbw/fast-livo/Sophus/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment 33 | unitcomplex.imag() = 0.; | ^~ make[2]: [CMakeFiles/Sophus.dir/build.make:79：CMakeFiles/Sophus.dir/sophus/so2.cpp.o] 错误 1 make[2]: 离开目录“/media/zbw/zbw2/zbw/fast-livo/Sophus/build” make[1]: [CMakeFiles/Makefile2:98：CMakeFiles/Sophus.dir/all] 错误 2 make[1]: 离开目录“/media/zbw/zbw2/zbw/fast-livo/Sophus/build” make: *** [Makefile:149：all] 错误 2

在so2.cpp下面第30行 修改为以下

SO2::SO2() { // unitcomplex.real() = 1.; // unitcomplex.imag() = 0.; unitcomplex = std::complex(1.0, 0.0); }

ok

[xuankuzcr]

这是非模板类Sophus比较经典的报错了，感谢指出。其他问题可以参考以前的issue，都能搜到解决方案。