SLAM14讲_ch7_编译问题汇总

最近在学习SLAM ch7实践部分时遇到如下问题，进行记录，希望对大家有所帮助

•  编译问题 1

/usr/local/include/g2o/core/base_fixed_sized_edge.h:199:32:
 error: ‘index_sequence’ is not a member of ‘std’

解决方案：在CMakeList.txt中将set(CMAKE_CXX_FLAGS "-std=c++11 -O2 ${SSE_FLAGS} -msse4")替换如下

set(CMAKE_CXX_STANDARD 14)

• 编译问题 2

/home/feynman/slambook2-master/ch7/pose_estimation_3d2d.cpp:54:31: 
error: ‘CV_LOAD_IMAGE_COLOR’ was not declared in this scope

解决方案：在源码C++文件中添加添加头文件

#include 

• 编译问题 3 （常见问题）

/usr/local/include/fmt/core.h:1757:7: 
error: static assertion failed: Cannot format an argument. 
To make type T formattable provide a formatter specialization: 
https://fmt.dev/latest/api.html#udt

解决方案：对CMakeList.txt文件中的target_link_libraries作出修改，添加Sophus::Sophus

target_link_libraries(xxxxxxx ${xxxxxxxx} Sophus::Sophus)

• 编译问题 4

/home/feynman/slambook2-master/ch7/pose_estimation_2d2d.cpp:144:61: 
error: ‘CV_FM_8POINT’ was not declared in this scope

解决方案：根据提示将pose_estimation_2d2d.cpp第144行代码修改为

fundamental_matrix = findFundamentalMat(points1, points2, FM_8POINT);

• 编译问题 5

/usr/lib/gcc/x86_64-linux-gnu/9/include/popcntintrin.h:35:1: 
error: inlining failed in call to always_inline ‘int _mm_popcnt_u32(unsigned int)’:
target specific option mismatch

解决方案：在CMakeList.txt中 set(CMAKE_CXX_……) 内容替换如下

set(CMAKE_CXX_FLAGS "-std=c++14 -mfma")