您好，我编译您的代码出现些错误，错误显示找不到g2o定义的结构，但是我查看电脑由存在这些结构

[leigetiwen]

/home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:63:45: error: ‘Vector3D’ was not declared in this scope class PreEdgeSE2 : public BaseBinaryEdge<3, Vector3D, VertexSE2, VertexSE2> ^~~~ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:63:45: note: suggested alternative: ‘Vector3’ class PreEdgeSE2 : public BaseBinaryEdge<3, Vector3D, VertexSE2, VertexSE2> ^~~~ Vector3 /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:63:75: error: template argument 2 is invalid class PreEdgeSE2 : public BaseBinaryEdge<3, Vector3D, VertexSE2, VertexSE2> ^ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h: In member function ‘void g2o::PreEdgeSE2::computeError()’: /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:71:61: error: ‘_vertices’ was not declared in this scope const VertexSE2 v1 = static_cast<const VertexSE2>(_vertices[0]); ^~~~~ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:73:9: error: ‘Matrix2D’ was not declared in this scope Matrix2D Ri = v1->estimate().rotation().toRotationMatrix(); ^~~~ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:73:9: note: suggested alternative: ‘Matrix2’ Matrix2D Ri = v1->estimate().rotation().toRotationMatrix(); ^~~~ Matrix2 /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:74:9: error: ‘Vector2D’ was not declared in this scope Vector2D ri = v1->estimate().translation(); ^~~~ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:74:9: note: suggested alternative: ‘Vector2’ Vector2D ri = v1->estimate().translation(); ^~~~ Vector2 /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:77:18: error: expected ‘;’ before ‘rj’ Vector2D rj = v2->estimate().translation(); ^~ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:79:9: error: ‘_error’ was not declared in this scope _error.head<2>() = Ri.transpose() (rj-ri) - _measurement.head<2>(); ^~ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:79:9: note: suggested alternative: ‘perror’ _error.head<2>() = Ri.transpose() (rj-ri) - _measurement.head<2>(); ^~ perror /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:79:24: error: expected primary-expression before ‘)’ token _error.head<2>() = Ri.transpose() (rj-ri) - _measurement.head<2>(); ^ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:79:28: error: ‘Ri’ was not declared in this scope _error.head<2>() = Ri.transpose() (rj-ri) - _measurement.head<2>(); ^~ /home/jetson/simulation_ws/src/se2lam/include/se2lam/EdgeSE2XYZ.h:79:28: note: suggested alternative: ‘ai’ _error.head<2>() = Ri.transpose() * (rj-ri) - _measurement.head<2>();

[izhengfan]

找不到 Vector3D，请确保你用的 g2o 版本和我一样

[leigetiwen]

找到问题了，是由于电脑安装了多个g2o