视觉SLAM十四讲 ch4 trajectoryError.cpp报错问题和解决
首先来看一下我的CMakelist文件：
cmake_minimum_required(VERSION 3.0)
project(trajectoryError)
# 在cmake脚本中，设置编译选项可以通过add_compile_options命令，也可以通过set命令修改CMAKE_CXX_FLAGS或CMAKE_C_FLAGS。
# add_compile_options(-std=c++11) # 这句话的意思是在make时让编译器（g++）自动添加C++11的性质 -> 设置编译选项
option(USE_UBUNTU_20 "Set to ON if you are using Ubuntu 20.04" ON)
find_package(Pangolin REQUIRED)
if(USE_UBUNTU_20)
message("You are using Ubuntu 20.04, fmt::fmt will be linked")
find_package(fmt REQUIRED)
set(FMT_LIBRARIES fmt::fmt)
endif()
include_directories(${Pangolin_INCLUDE_DIRS})
add_executable(trajectoryError trajectoryError.cpp)
target_link_libraries(trajectoryError ${FMT_LIBRARIES})
target_link_libraries(trajectoryError ${Pangolin_LIBRARIES})
set(CMAKE_BUILD_TYPE "Release")
set(Sophus_LIBRARIES "/usr/local/lib/libSophus.so")
find_package(Sophus REQUIRED)
include_directories( ${Sophus_INCLUDE_DIRS} )
target_link_libraries(trajectoryError ${Sophus_LIBRARIES})
修改了cmakelist文件可以解决大部分的由于库链接出现问题所导致的报错。
然后再看一下代码的需要修改的地方：
我们需要把头文件对应起来，原来的头文件需要与安装在本地（sophus支持带模板的，可以选择不安装）的文件名字对应，具体是后缀为.h还是.hpp需要根据自己的电脑对应起来。
修改完之后大部分的错误可以解决了。
如果cmake时遇到了这样的错误的话：
[ 50%] Building CXX object CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
from /usr/local/include/pangolin/windowing/window.h:35,
from /usr/local/include/pangolin/display/display.h:34,
from /usr/local/include/pangolin/pangolin.h:38,
from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:109:79: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:109:87: error: template argument 1 is invalid
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;
| ^
/usr/local/include/sigslot/signal.hpp:109:92: error: ‘::value’ has not been declared
109 | constexpr bool is_weak_ptr_compatible_v = detail::is_weak_ptr_compatible>::value;
| ^~~~~
/usr/local/include/sigslot/signal.hpp:132:53: error: ‘remove_pointer_t’ is not a member of ‘std’; did you mean ‘remove_pointer’?
132 | std::remove_pointer_t>::value;
| ^~~~~~~~~~~~~~~~
| remove_pointer
/usr/local/include/sigslot/signal.hpp:132:53: error: ‘remove_pointer_t’ is not a member of ‘std’; did you mean ‘remove_pointer’?
132 | std::remove_pointer_t>::value;
| ^~~~~~~~~~~~~~~~
| remove_pointer
/usr/local/include/sigslot/signal.hpp:132:70: error: template argument 2 is invalid
132 | std::remove_pointer_t>::value;
| ^
/usr/local/include/sigslot/signal.hpp:132:75: error: ‘::value’ has not been declared
132 | std::remove_pointer_t>::value;
| ^~~~~
/usr/local/include/sigslot/signal.hpp:223:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
223 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:223:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
223 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:223:62: error: type/value mismatch at argument 2 in template parameter list for ‘template struct sigslot::detail::function_traits’
223 | struct function_traits>> {
| ^~
/usr/local/include/sigslot/signal.hpp:223:62: note: expected a type, got ‘( < is_func_v)’
/usr/local/include/sigslot/signal.hpp:223:64: error: expected unqualified-id before ‘>’ token
223 | struct function_traits>> {
| ^
/usr/local/include/sigslot/signal.hpp:233:33: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
233 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:233:33: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
233 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:233:63: error: type/value mismatch at argument 2 in template parameter list for ‘template struct sigslot::detail::function_traits’
233 | struct function_traits>> {
| ^~
/usr/local/include/sigslot/signal.hpp:233:63: note: expected a type, got ‘( < is_func_v)’
/usr/local/include/sigslot/signal.hpp:233:65: error: expected unqualified-id before ‘>’ token
233 | struct function_traits>> {
| ^
/usr/local/include/sigslot/signal.hpp:243:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
243 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:243:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
243 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:243:61: error: type/value mismatch at argument 2 in template parameter list for ‘template struct sigslot::detail::function_traits’
243 | struct function_traits>> {
| ^~
/usr/local/include/sigslot/signal.hpp:243:61: note: expected a type, got ‘( < is_pmf_v)’
/usr/local/include/sigslot/signal.hpp:243:63: error: expected unqualified-id before ‘>’ token
243 | struct function_traits>> {
| ^
/usr/local/include/sigslot/signal.hpp:254:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
254 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:254:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
254 | struct function_traits>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:254:72: error: type/value mismatch at argument 2 in template parameter list for ‘template struct sigslot::detail::function_traits’
254 | struct function_traits>> {
| ^~
/usr/local/include/sigslot/signal.hpp:254:72: note: expected a type, got ‘( < has_call_operator_v)’
/usr/local/include/sigslot/signal.hpp:254:74: error: expected unqualified-id before ‘>’ token
254 | struct function_traits>> {
| ^
/usr/local/include/sigslot/signal.hpp: In function ‘sigslot::detail::func_ptr sigslot::detail::get_function_ptr(const T&)’:
/usr/local/include/sigslot/signal.hpp:269:26: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
269 | function_traits>::ptr(t, d);
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:269:26: error: ‘decay_t’ is not a member of ‘std’; did you mean ‘decay’?
269 | function_traits>::ptr(t, d);
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:269:34: error: template argument 1 is invalid
269 | function_traits>::ptr(t, d);
| ^
/usr/local/include/sigslot/signal.hpp:269:35: error: expected unqualified-id before ‘>’ token
269 | function_traits>::ptr(t, d);
| ^~
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:291:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
291 | struct object_pointer>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:291:32: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
291 | struct object_pointer>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:291:66: error: type/value mismatch at argument 2 in template parameter list for ‘template struct sigslot::detail::object_pointer’
291 | struct object_pointer>> {
| ^~
/usr/local/include/sigslot/signal.hpp:291:66: note: expected a type, got ‘( < is_pointer_v)’
/usr/local/include/sigslot/signal.hpp:291:68: error: expected unqualified-id before ‘>’ token
291 | struct object_pointer>> {
| ^
/usr/local/include/sigslot/signal.hpp:298:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
298 | struct object_pointer>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:298:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
298 | struct object_pointer>> {
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:298:65: error: type/value mismatch at argument 2 in template parameter list for ‘template struct sigslot::detail::object_pointer’
298 | struct object_pointer>> {
| ^~
/usr/local/include/sigslot/signal.hpp:298:65: note: expected a type, got ‘( < is_weak_ptr_v)’
/usr/local/include/sigslot/signal.hpp:298:67: error: expected unqualified-id before ‘>’ token
298 | struct object_pointer>> {
| ^
/usr/local/include/sigslot/signal.hpp:306:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
306 | struct object_pointer &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:306:31: error: ‘enable_if_t’ is not a member of ‘std’; did you mean ‘enable_if’?
306 | struct object_pointer &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:308:76: error: type/value mismatch at argument 2 in template parameter list for ‘template struct sigslot::detail::object_pointer’
308 | trait::is_weak_ptr_compatible_v>>
| ^~
/usr/local/include/sigslot/signal.hpp:308:76: note: expected a type, got ‘((( < (! is_pointer_v)) && (! is_weak_ptr_v)) && is_weak_ptr_compatible_v)’
/usr/local/include/sigslot/signal.hpp:308:78: error: expected unqualified-id before ‘>’ token
308 | trait::is_weak_ptr_compatible_v>>
| ^
/usr/local/include/sigslot/signal.hpp:398:41: error: ‘std::enable_if_t’ has not been declared
398 | explicit copy_on_write(U && x, std::enable_if_t,
| ^~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:398:52: error: expected ‘,’ or ‘...’ before ‘<’ token
398 | explicit copy_on_write(U && x, std::enable_if_t,
| ^
/usr/local/include/sigslot/signal.hpp:532:5: error: ‘index’ function uses ‘auto’ type specifier without trailing return type
532 | auto index() const {
| ^~~~
/usr/local/include/sigslot/signal.hpp:532:5: note: deduced return type only available with ‘-std=c++14’ or ‘-std=gnu++14’
/usr/local/include/sigslot/signal.hpp:536:5: error: ‘index’ function uses ‘auto’ type specifier without trailing return type
536 | auto& index() {
| ^~~~
/usr/local/include/sigslot/signal.hpp:536:5: note: deduced return type only available with ‘-std=c++14’ or ‘-std=gnu++14’
/usr/local/include/sigslot/signal.hpp:793:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
793 | std::enable_if_t::must_check_object, bool>
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:799:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
799 | std::enable_if_t::must_check_object, bool>
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:876:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
876 | std::decay_t func;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot::slot(sigslot::detail::cleanable&, F&&, Gid)’:
/usr/local/include/sigslot/signal.hpp:858:11: error: class ‘sigslot::detail::slot’ does not have any field named ‘func’
858 | , func{std::forward(f)} {}
| ^~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:866:33: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
866 | return get_function_ptr(func);
| ^~~~
| Func
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:871:23: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
871 | return typeid(func);
| ^~~~
| Func
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:908:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
908 | std::decay_t func;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_extended::slot_extended(sigslot::detail::cleanable&, F&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:888:11: error: class ‘sigslot::detail::slot_extended’ does not have any field named ‘func’
888 | , func{std::forward(f)} {}
| ^~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_extended::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:898:33: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
898 | return get_function_ptr(func);
| ^~~~
| Func
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_extended::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:903:23: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
903 | return typeid(func);
| ^~~~
| Func
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:945:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
945 | std::decay_t pmf;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:946:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
946 | std::decay_t ptr;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_pmf::slot_pmf(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:922:11: error: class ‘sigslot::detail::slot_pmf’ does not have any field named ‘pmf’
922 | , pmf{std::forward(f)}
| ^~~
/usr/local/include/sigslot/signal.hpp:923:11: error: class ‘sigslot::detail::slot_pmf’ does not have any field named ‘ptr’
923 | , ptr{std::forward(p)} {}
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_pmf::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:927:12: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
927 | ((*ptr).*pmf)(args...);
| ^~~
| Ptr
/usr/local/include/sigslot/signal.hpp:927:18: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
927 | ((*ptr).*pmf)(args...);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_pmf::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:931:33: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
931 | return get_function_ptr(pmf);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_pmf::get_object() const’:
/usr/local/include/sigslot/signal.hpp:935:31: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
935 | return get_object_ptr(ptr);
| ^~~
| Ptr
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_pmf::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:940:23: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
940 | return typeid(pmf);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:982:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
982 | std::decay_t pmf;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:983:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
983 | std::decay_t ptr;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_pmf_extended::slot_pmf_extended(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:958:11: error: class ‘sigslot::detail::slot_pmf_extended’ does not have any field named ‘pmf’
958 | , pmf{std::forward(f)}
| ^~~
/usr/local/include/sigslot/signal.hpp:959:11: error: class ‘sigslot::detail::slot_pmf_extended’ does not have any field named ‘ptr’
959 | , ptr{std::forward(p)} {}
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_pmf_extended::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:965:12: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
965 | ((*ptr).*pmf)(conn, args...);
| ^~~
| Ptr
/usr/local/include/sigslot/signal.hpp:965:18: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
965 | ((*ptr).*pmf)(conn, args...);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_pmf_extended::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:969:33: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
969 | return get_function_ptr(pmf);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_pmf_extended::get_object() const’:
/usr/local/include/sigslot/signal.hpp:972:31: error: ‘ptr’ was not declared in this scope; did you mean ‘Ptr’?
972 | return get_object_ptr(ptr);
| ^~~
| Ptr
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_pmf_extended::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:977:23: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
977 | return typeid(pmf);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:1032:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
1032 | std::decay_t func;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:1033:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
1033 | std::decay_t ptr;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_tracked::slot_tracked(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:997:11: error: class ‘sigslot::detail::slot_tracked’ does not have any field named ‘func’
997 | , func{std::forward(f)}
| ^~~~
/usr/local/include/sigslot/signal.hpp:998:11: error: class ‘sigslot::detail::slot_tracked’ does not have any field named ‘ptr’
998 | , ptr{std::forward(p)}
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘bool sigslot::detail::slot_tracked::connected() const’:
/usr/local/include/sigslot/signal.hpp:1002:17: error: ‘ptr’ was not declared in this scope
1002 | return !ptr.expired() && slot_state::connected();
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_tracked::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:1007:19: error: ‘ptr’ was not declared in this scope
1007 | auto sp = ptr.lock();
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_tracked::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:1018:33: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
1018 | return get_function_ptr(func);
| ^~~~
| Func
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_tracked::get_object() const’:
/usr/local/include/sigslot/signal.hpp:1022:31: error: ‘ptr’ was not declared in this scope
1022 | return get_object_ptr(ptr);
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_tracked::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:1027:23: error: ‘func’ was not declared in this scope; did you mean ‘Func’?
1027 | return typeid(func);
| ^~~~
| Func
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:1082:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
1082 | std::decay_t pmf;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp:1083:10: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
1083 | std::decay_t ptr;
| ^~~~~~~
| decay
/usr/local/include/sigslot/signal.hpp: In constructor ‘constexpr sigslot::detail::slot_pmf_tracked::slot_pmf_tracked(sigslot::detail::cleanable&, F&&, P&&, sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:1047:11: error: class ‘sigslot::detail::slot_pmf_tracked’ does not have any field named ‘pmf’
1047 | , pmf{std::forward(f)}
| ^~~
/usr/local/include/sigslot/signal.hpp:1048:11: error: class ‘sigslot::detail::slot_pmf_tracked’ does not have any field named ‘ptr’
1048 | , ptr{std::forward(p)}
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘bool sigslot::detail::slot_pmf_tracked::connected() const’:
/usr/local/include/sigslot/signal.hpp:1052:17: error: ‘ptr’ was not declared in this scope
1052 | return !ptr.expired() && slot_state::connected();
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::detail::slot_pmf_tracked::call_slot(Args ...)’:
/usr/local/include/sigslot/signal.hpp:1057:19: error: ‘ptr’ was not declared in this scope
1057 | auto sp = ptr.lock();
| ^~~
/usr/local/include/sigslot/signal.hpp:1063:21: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
1063 | ((*sp).*pmf)(args...);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::detail::func_ptr sigslot::detail::slot_pmf_tracked::get_callable() const’:
/usr/local/include/sigslot/signal.hpp:1068:33: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
1068 | return get_function_ptr(pmf);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: In member function ‘const void* sigslot::detail::slot_pmf_tracked::get_object() const’:
/usr/local/include/sigslot/signal.hpp:1072:31: error: ‘ptr’ was not declared in this scope
1072 | return get_object_ptr(ptr);
| ^~~
/usr/local/include/sigslot/signal.hpp: In member function ‘const std::type_info& sigslot::detail::slot_pmf_tracked::get_callable_type() const’:
/usr/local/include/sigslot/signal.hpp:1077:23: error: ‘pmf’ was not declared in this scope; did you mean ‘Pmf’?
1077 | return typeid(pmf);
| ^~~
| Pmf
/usr/local/include/sigslot/signal.hpp: At global scope:
/usr/local/include/sigslot/signal.hpp:1115:27: error: ‘conditional_t’ in namespace ‘std’ does not name a template type; did you mean ‘conditional’?
1115 | using cow_type = std::conditional_t::value,
| ^~~~~~~~~~~~~
| conditional
/usr/local/include/sigslot/signal.hpp:1119:32: error: ‘conditional_t’ in namespace ‘std’ does not name a template type; did you mean ‘conditional’?
1119 | using cow_copy_type = std::conditional_t::value,
| ^~~~~~~~~~~~~
| conditional
/usr/local/include/sigslot/signal.hpp:1201:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1201 | std::enable_if_t, connection>
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1221:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1221 | std::enable_if_t, connection>
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1241:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1241 | std::enable_if_t &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1261:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1261 | std::enable_if_t &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1281:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1281 | std::enable_if_t &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1310:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1310 | std::enable_if_t &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1340:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1340 | std::enable_if_t &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1376:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1376 | std::enable_if_t<(trait::is_callable_v ||
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1399:10: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
1399 | std::enable_if_t &&
| ^~~~~~~~~~~
| enable_if
/usr/local/include/sigslot/signal.hpp:1522:12: error: ‘cow_copy_type’ does not name a type
1522 | inline cow_copy_type slots_reference() {
| ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1529:12: error: ‘make_slot’ function uses ‘auto’ type specifier without trailing return type
1529 | inline auto make_slot(A && ...a) {
| ^~~~
/usr/local/include/sigslot/signal.hpp:1529:12: note: deduced return type only available with ‘-std=c++14’ or ‘-std=gnu++14’
/usr/local/include/sigslot/signal.hpp:1589:5: error: ‘cow_type’ does not name a type; did you mean ‘lock_type’?
1589 | cow_type m_slots;
| ^~~~~~~~
| lock_type
/usr/local/include/sigslot/signal.hpp: In constructor ‘sigslot::signal_base< , >::signal_base(sigslot::signal_base< , >&&)’:
/usr/local/include/sigslot/signal.hpp:1146:14: error: ‘m_slots’ was not declared in this scope
1146 | swap(m_slots, o.m_slots);
| ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘sigslot::signal_base< , >& sigslot::signal_base< , >::operator=(sigslot::signal_base< , >&&)’:
/usr/local/include/sigslot/signal.hpp:1155:14: error: ‘m_slots’ was not declared in this scope
1155 | swap(m_slots, o.m_slots);
| ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< , >::operator()(U&& ...)’:
/usr/local/include/sigslot/signal.hpp:1180:9: error: ‘cow_copy_type’ was not declared in this scope
1180 | cow_copy_type ref = slots_reference();
| ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1180:32: error: expected primary-expression before ‘,’ token
1180 | cow_copy_type ref = slots_reference();
| ^
/usr/local/include/sigslot/signal.hpp:1180:42: error: expected primary-expression before ‘>’ token
1180 | cow_copy_type ref = slots_reference();
| ^
/usr/local/include/sigslot/signal.hpp:1180:44: error: ‘ref’ was not declared in this scope; did you mean ‘std::ref’?
1180 | cow_copy_type ref = slots_reference();
| ^~~
| std::ref
In file included from /usr/include/c++/9/functional:58,
from /usr/local/include/pangolin/utils/type_convert.h:33,
from /usr/local/include/pangolin/utils/params.h:31,
from /usr/local/include/pangolin/display/display.h:33,
from /usr/local/include/pangolin/pangolin.h:38,
from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/include/c++/9/bits/refwrap.h:370:5: note: ‘std::ref’ declared here
370 | ref(reference_wrapper<_Tp> __t) noexcept
| ^~~
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
from /usr/local/include/pangolin/windowing/window.h:35,
from /usr/local/include/pangolin/display/display.h:34,
from /usr/local/include/pangolin/pangolin.h:38,
from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/local/include/sigslot/signal.hpp:1180:50: error: there are no arguments to ‘slots_reference’ that depend on a template parameter, so a declaration of ‘slots_reference’ must be available [-fpermissive]
1180 | cow_copy_type ref = slots_reference();
| ^~~~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1180:50: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< , >::disconnect(const Callable&, const Obj&)’:
/usr/local/include/sigslot/signal.hpp:1423:41: error: use of ‘auto’ in lambda parameter declaration only available with ‘-std=c++14’ or ‘-std=gnu++14’
1423 | return disconnect_if([&] (const auto &s) {
| ^~~~
/usr/local/include/sigslot/signal.hpp: In lambda function:
/usr/local/include/sigslot/signal.hpp:1424:21: error: base operand of ‘->’ is not a pointer
1424 | return s->has_object(obj) && s->has_callable(c);
| ^~
/usr/local/include/sigslot/signal.hpp:1424:43: error: base operand of ‘->’ is not a pointer
1424 | return s->has_object(obj) && s->has_callable(c);
| ^~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< , >::disconnect(sigslot::group_id)’:
/usr/local/include/sigslot/signal.hpp:1439:46: error: ‘m_slots’ was not declared in this scope
1439 | for (auto &group : detail::cow_write(m_slots)) {
| ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< , >::slot_count()’:
/usr/local/include/sigslot/signal.hpp:1486:9: error: ‘cow_copy_type’ was not declared in this scope
1486 | cow_copy_type ref = slots_reference();
| ^~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp:1486:32: error: expected primary-expression before ‘,’ token
1486 | cow_copy_type ref = slots_reference();
| ^
/usr/local/include/sigslot/signal.hpp:1486:42: error: expected primary-expression before ‘>’ token
1486 | cow_copy_type ref = slots_reference();
| ^
/usr/local/include/sigslot/signal.hpp:1486:44: error: ‘ref’ was not declared in this scope; did you mean ‘std::ref’?
1486 | cow_copy_type ref = slots_reference();
| ^~~
| std::ref
In file included from /usr/include/c++/9/functional:58,
from /usr/local/include/pangolin/utils/type_convert.h:33,
from /usr/local/include/pangolin/utils/params.h:31,
from /usr/local/include/pangolin/display/display.h:33,
from /usr/local/include/pangolin/pangolin.h:38,
from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/include/c++/9/bits/refwrap.h:370:5: note: ‘std::ref’ declared here
370 | ref(reference_wrapper<_Tp> __t) noexcept
| ^~~
In file included from /usr/local/include/pangolin/utils/signal_slot.h:3,
from /usr/local/include/pangolin/windowing/window.h:35,
from /usr/local/include/pangolin/display/display.h:34,
from /usr/local/include/pangolin/pangolin.h:38,
from /home/hbt/文档/slambook2/ch4/example/trajectoryError.cpp:4:
/usr/local/include/sigslot/signal.hpp:1486:50: error: there are no arguments to ‘slots_reference’ that depend on a template parameter, so a declaration of ‘slots_reference’ must be available [-fpermissive]
1486 | cow_copy_type ref = slots_reference();
| ^~~~~~~~~~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< , >::clean(sigslot::detail::slot_state*)’:
/usr/local/include/sigslot/signal.hpp:1504:46: error: ‘m_slots’ was not declared in this scope
1504 | for (auto &group : detail::cow_write(m_slots)) {
| ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< , >::add_slot(sigslot::signal_base< , >::slot_ptr&&)’:
/usr/local/include/sigslot/signal.hpp:1538:42: error: ‘m_slots’ was not declared in this scope
1538 | auto &groups = detail::cow_write(m_slots);
| ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘size_t sigslot::signal_base< , >::disconnect_if(Cond&&)’:
/usr/local/include/sigslot/signal.hpp:1560:42: error: ‘m_slots’ was not declared in this scope
1560 | auto &groups = detail::cow_write(m_slots);
| ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In member function ‘void sigslot::signal_base< , >::clear()’:
/usr/local/include/sigslot/signal.hpp:1584:27: error: ‘m_slots’ was not declared in this scope
1584 | detail::cow_write(m_slots).clear();
| ^~~~~~~
/usr/local/include/sigslot/signal.hpp: In instantiation of ‘void sigslot::signal_base< , >::operator()(U&& ...) [with U = {pangolin::VarState::Event}; Lockable = std::mutex; T = {pangolin::VarState::Event}]’:
/usr/local/include/pangolin/var/varstate.h:264:23: required from ‘std::map, std::shared_ptr >::iterator pangolin::VarState::AddUpgradedVar(const std::shared_ptr >&, const iterator&, bool) [with T = bool; std::map, std::shared_ptr >::iterator = std::_Rb_tree_iterator, std::shared_ptr > >]’
/usr/local/include/pangolin/var/varstate.h:205:13: required from ‘std::shared_ptr pangolin::VarState::GetOrCreateVar(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:83:50: required from ‘pangolin::Var::Var(const T&, const pangolin::VarMeta&) [with T = bool]’
/usr/local/include/pangolin/var/var.h:88:35: required from ‘pangolin::Var::Var(const string&, const T&) [with T = bool; std::string = std::__cxx11::basic_string]’
/usr/local/include/pangolin/display/widgets.h:153:50: required from here
/usr/local/include/sigslot/signal.hpp:1180:65: error: ‘slots_reference’ was not declared in this scope
1180 | cow_copy_type ref = slots_reference();
| ~~~~~~~~~~~~~~~^~
make[2]: *** [CMakeFiles/trajectoryError.dir/build.make:63：CMakeFiles/trajectoryError.dir/trajectoryError.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:76：CMakeFiles/trajectoryError.dir/all] 错误 2
make: *** [Makefile:84：all] 错误 2
大部分的原因就是CMakelist文件没有把库链接进来，所以只需要修改cmakelist文件为文章开头那样即可。
然后运行效果如图：
参考文章：
《视觉SLAM十四讲》第二版源码slambook2编译调试
[cmake:设置编译选项的讲究(add_compile_options和CMAKE_CXX_FLAGS的区别) 转自CSDN](https://blog.csdn.net/bianchengjingling22/article/details/88794329?ops_request_misc=&request_id=&biz_id=102&utm_term=add_compile_options(-std=c++11&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduweb~default-0-88794329.first_rank_v2_pc_rank_v29&spm=1018.2226.3001.4187)
(.text.startup+0x102)：对‘Sophus::SO3::operator*(Sophus::SO3 const&) const’未定义的引用