Ubuntu20.04编译编译视觉SLAM十四讲slambook2/ch7
error：
In file included from /usr/local/include/g2o/core/base_unary_edge.h:30,
from /home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:8:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:32: error: ‘index_sequence’ is not a member of ‘std’
179 | struct HessianTupleType> {
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:32: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:51: error: expected parameter pack before ‘...’
179 | struct HessianTupleType> {
| ^~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:51: error: template argument 1 is invalid
/usr/local/include/g2o/core/base_fixed_sized_edge.h:179:54: error: expected unqualified-id before ‘>’ token
179 | struct HessianTupleType> {
| ^~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:38: error: ‘make_index_sequence’ is not a member of ‘std’
186 | typename HessianTupleType>::type;
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:38: error: ‘make_index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:58: error: template argument 1 is invalid
186 | typename HessianTupleType>::type;
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:186:16: error: expected nested-name-specifier
186 | typename HessianTupleType>::type;
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:38: error: ‘make_index_sequence’ is not a member of ‘std’
188 | typename HessianTupleType>::typeTransposed;
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:38: error: ‘make_index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:58: error: template argument 1 is invalid
188 | typename HessianTupleType>::typeTransposed;
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:188:16: error: expected nested-name-specifier
188 | typename HessianTupleType>::typeTransposed;
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:32: error: ‘std::index_sequence’ has not been declared
208 | bool allVerticesFixedNs(std::index_sequence) const;
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:208:46: error: expected ‘,’ or ‘...’ before ‘<’ token
208 | bool allVerticesFixedNs(std::index_sequence) const;
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:213:75: error: ‘std::index_sequence’ has not been declared
213 | izeOplus_allocate(JacobianWorkspace& jacobianWorkspace, std::index_sequence);
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:213:89: error: expected ‘,’ or ‘...’ before ‘<’ token
213 | s_allocate(JacobianWorkspace& jacobianWorkspace, std::index_sequence);
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:221:30: error: ‘std::index_sequence’ has not been declared
221 | void linearizeOplusNs(std::index_sequence);
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:221:44: error: expected ‘,’ or ‘...’ before ‘<’ token
221 | void linearizeOplusNs(std::index_sequence);
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:245:38: error: ‘std::index_sequence’ has not been declared
245 | std::index_sequence);
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:245:52: error: expected ‘,’ or ‘...’ before ‘<’ token
245 | std::index_sequence);
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:250:65: error: ‘std::index_sequence’ has not been declared
250 | oid constructOffDiagonalQuadraticFormMs(const AtOType&, std::index_sequence<>);
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:250:79: error: expected ‘,’ or ‘...’ before ‘<’ token
250 | ffDiagonalQuadraticFormMs(const AtOType&, std::index_sequence<>);
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:253:69: error: ‘std::index_sequence’ has not been declared
253 | constructOffDiagonalQuadraticFormMs(const AtOType& AtO, std::index_sequence);
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:253:83: error: expected ‘,’ or ‘...’ before ‘<’ token
253 | ctOffDiagonalQuadraticFormMs(const AtOType& AtO, std::index_sequence);
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.h:270:3: error: ‘HessianTuple’ does not name a type; did you mean ‘HessianTupleType’?
270 | HessianTuple _hessianTuple;
| ^~~~~~~~~~~~
| HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h:271:3: error: ‘HessianTupleTransposed’ does not name a type; did you mean ‘HessianTupleType’?
271 | HessianTupleTransposed _hessianTupleTransposed;
| ^~~~~~~~~~~~~~~~~~~~~~
| HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h: In constructor ‘g2o::BaseFixedSizedEdge::BaseFixedSizedEdge()’:
/usr/local/include/g2o/core/base_fixed_sized_edge.h:193:9: error: class ‘g2o::BaseFixedSizedEdge’ does not have any field named ‘_hessianTuple’
193 | _hessianTuple(internal::createHessianMaps(_hessianTuple)),
| ^~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:193:51: error: ‘_hessianTuple’ was not declared in this scope; did you mean ‘HessianTupleType’?
193 | _hessianTuple(internal::createHessianMaps(_hessianTuple)),
| ^~~~~~~~~~~~~
| HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.h:194:9: error: class ‘g2o::BaseFixedSizedEdge’ does not have any field named ‘_hessianTupleTransposed’
194 | _hessianTupleTransposed(internal::createHessianMaps(_hessianTupleTransposed)),
| ^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:194:61: error: ‘_hessianTupleTransposed’ was not declared in this scope
194 | _hessianTupleTransposed(internal::createHessianMaps(_hessianTupleTransposed)),
| ^~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:278,
from /usr/local/include/g2o/core/base_unary_edge.h:30,
from /home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:8:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: At global scope:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:35:6: error: ‘bool g2o::BaseFixedSizedEdge::allVerticesFixedNs’ is not a static data member of ‘class g2o::BaseFixedSizedEdge’
35 | bool BaseFixedSizedEdge::allVerticesFixedNs(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:36:10: error: template definition of non-template ‘bool g2o::BaseFixedSizedEdge::allVerticesFixedNs’
36 | std::index_sequence) const {
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:36:10: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual bool g2o::BaseFixedSizedEdge::allVerticesFixed() const’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:43:34: error: ‘make_index_sequence’ is not a member of ‘std’
43 | return allVerticesFixedNs(std::make_index_sequence<_nr_of_vertices>());
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:43:71: error: expected primary-expression before ‘)’ token
43 | return allVerticesFixedNs(std::make_index_sequence<_nr_of_vertices>());
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge::constructQuadraticForm()’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:55:35: error: ‘make_index_sequence’ is not a member of ‘std’
55 | std::make_index_sequence<_nr_of_vertices>());
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:55:72: error: expected primary-expression before ‘)’ token
55 | std::make_index_sequence<_nr_of_vertices>());
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:58:35: error: ‘make_index_sequence’ is not a member of ‘std’
58 | std::make_index_sequence<_nr_of_vertices>());
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:58:72: error: expected primary-expression before ‘)’ token
58 | std::make_index_sequence<_nr_of_vertices>());
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: At global scope:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:65:74: error: ‘std::index_sequence’ has not been declared
65 | formationType& omega, const ErrorVector& weightedError, std::index_sequence) {
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:65:88: error: expected ‘,’ or ‘...’ before ‘<’ token
65 | nType& omega, const ErrorVector& weightedError, std::index_sequence) {
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:75:26: error: ‘std::index_sequence’ has not been declared
75 | const AtOType&, std::index_sequence<>) {}
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:75:40: error: expected ‘,’ or ‘...’ before ‘<’ token
75 | const AtOType&, std::index_sequence<>) {}
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:80:30: error: ‘std::index_sequence’ has not been declared
80 | const AtOType& AtO, std::index_sequence) {
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:80:44: error: expected ‘,’ or ‘...’ before ‘<’ token
80 | const AtOType& AtO, std::index_sequence) {
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘void g2o::BaseFixedSizedEdge::constructOffDiagonalQuadraticFormM(const AtOType&)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:98:45: error: ‘_hessianTupleTransposed’ was not declared in this scope; did you mean ‘hessianTransposed’?
98 | auto& hessianTransposed = std::get(_hessianTupleTransposed);
| ^~~~~~~~~~~~~~~~~~~~~~~
| hessianTransposed
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:101:35: error: ‘_hessianTuple’ was not declared in this scope; did you mean ‘HessianTupleType’?
101 | auto& hessian = std::get(_hessianTuple);
| ^~~~~~~~~~~~~
| HessianTupleType
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘void g2o::BaseFixedSizedEdge::constructQuadraticFormN(const InformationType&, const ErrorVector&)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:122:54: error: ‘make_index_sequence’ is not a member of ‘std’
122 | constructOffDiagonalQuadraticFormMs(AtO, std::make_index_sequence<_nr_of_vertices - N - 1>());
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:122:99: error: expected primary-expression before ‘)’ token
122 | Ms(AtO, std::make_index_sequence<_nr_of_vertices - N - 1>());
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge::linearizeOplus(g2o::JacobianWorkspace&)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:129:51: error: ‘make_index_sequence’ is not a member of ‘std’
129 | linearizeOplus_allocate(jacobianWorkspace, std::make_index_sequence<_nr_of_vertices>());
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:129:88: error: expected primary-expression before ‘)’ token
129 | jacobianWorkspace, std::make_index_sequence<_nr_of_vertices>());
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: At global scope:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:136:48: error: ‘std::index_sequence’ has not been declared
136 | JacobianWorkspace& jacobianWorkspace, std::index_sequence) {
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:136:62: error: expected ‘,’ or ‘...’ before ‘<’ token
136 | JacobianWorkspace& jacobianWorkspace, std::index_sequence) {
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:190:70: error: variable or field ‘linearizeOplusNs’ declared void
190 | eFixedSizedEdge::linearizeOplusNs(std::index_sequence) {
| ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:190:70: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge::linearizeOplus()’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:199:25: error: ‘make_index_sequence’ is not a member of ‘std’
199 | linearizeOplusNs(std::make_index_sequence<_nr_of_vertices>());
| ^~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:199:62: error: expected primary-expression before ‘)’ token
199 | linearizeOplusNs(std::make_index_sequence<_nr_of_vertices>());
| ^
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In member function ‘virtual void g2o::BaseFixedSizedEdge::mapHessianMemory(number_t*, int, int, bool)’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:225:57: error: ‘_hessianTupleTransposed’ was not declared in this scope
225 | tuple_apply_i(MapHessianMemoryK{d, vj_dim, vi_dim}, _hessianTupleTransposed,
| ^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:228:57: error: ‘_hessianTuple’ was not declared in this scope; did you mean ‘HessianTupleType’?
228 | tuple_apply_i(MapHessianMemoryK{d, vi_dim, vj_dim}, _hessianTuple,
| ^~~~~~~~~~~~~
| HessianTupleType
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool VertexPose::read(std::istream&)’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:262:44: warning: no return statement in function returning non-void [-Wreturn-type]
262 | virtual bool read(istream &in) override {}
| ^
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool VertexPose::write(std::ostream&) const’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:264:52: warning: no return statement in function returning non-void [-Wreturn-type]
264 | virtual bool write(ostream &out) const override {}
| ^
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool EdgeProjection::read(std::istream&)’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:298:44: warning: no return statement in function returning non-void [-Wreturn-type]
298 | virtual bool read(istream &in) override {}
| ^
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp: In member function ‘virtual bool EdgeProjection::write(std::ostream&) const’:
/home/liqiang/slambook2/ch7/pose_estimation_3d2d.cpp:300:52: warning: no return statement in function returning non-void [-Wreturn-type]
300 | virtual bool write(ostream &out) const override {}
| ^
make[2]: *** [CMakeFiles/pose_estimation_3d2d.dir/build.make:63: CMakeFiles/pose_estimation_3d2d.dir/pose_estimation_3d2d.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:86: CMakeFiles/pose_estimation_3d2d.dir/all] Error 2
make: *** [Makefile:84: all] Error 2
解决办法：
将CMakeLists文件里的：
set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -msse4")改为：
set(CMAKE_CXX_FLAGS "-std=c++14 -O2 ${SSE_FLAGS} -msse4")因为Ubuntu20.04默认安装的是c++14！！！！
cmake_minimum_required(VERSION 2.8)
project(vo1)
set(CMAKE_BUILD_TYPE "Release")
add_definitions("-DENABLE_SSE")
#set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -msse4")
set(CMAKE_CXX_FLAGS "-std=c++14 -O2 ${SSE_FLAGS} -msse4")
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(OpenCV 3 REQUIRED)
find_package(G2O REQUIRED)
find_package(Sophus REQUIRED)
include_directories(
${OpenCV_INCLUDE_DIRS}
${G2O_INCLUDE_DIRS}
${Sophus_INCLUDE_DIRS}
"/usr/local/include/eigen3/"
)
add_executable(orb_cv orb_cv.cpp)
target_link_libraries(orb_cv ${OpenCV_LIBS} fmt)
add_executable(orb_self orb_self.cpp)
target_link_libraries(orb_self ${OpenCV_LIBS} fmt)
# add_executable( pose_estimation_2d2d pose_estimation_2d2d.cpp extra.cpp ) # use this if in OpenCV2
add_executable(pose_estimation_2d2d pose_estimation_2d2d.cpp)
target_link_libraries(pose_estimation_2d2d ${OpenCV_LIBS} fmt)
# # add_executable( triangulation triangulation.cpp extra.cpp) # use this if in opencv2
add_executable(triangulation triangulation.cpp)
target_link_libraries(triangulation ${OpenCV_LIBS} fmt)
add_executable(pose_estimation_3d2d pose_estimation_3d2d.cpp)
target_link_libraries(pose_estimation_3d2d
g2o_core g2o_stuff
${OpenCV_LIBS} fmt)
add_executable(pose_estimation_3d3d pose_estimation_3d3d.cpp)
target_link_libraries(pose_estimation_3d3d
g2o_core g2o_stuff
${OpenCV_LIBS} fmt)如果有其他错误，可以参考上篇博客：
ubuntu18.04编译视觉SLAM十四讲slambook2/ch7_nudt一枚研究生-CSDN博客
我试了一下用原来那个CMakeLists也可以编译成功：
主要我的这台电脑在 "/usr/include/eigen3/"安装了eigen3。
最后执行效果如下图所示：
个人觉得Ubuntu20.04这只猫真的很好看！！