视觉SLAM十四讲slambook2/ch3/examples/plotTrajectory.cpp程序报错解决

原程序编译后出现如下报错：

/usr/local/include/pangolin/var/var.h:218:29: error: ‘class pangolin::VarValueT<bool>’ has no member named ‘Get’return var->Get();^
/usr/local/include/pangolin/var/var.h:222:29: error: ‘class pangolin::VarValueT<bool>’ has no member named ‘Get’return var->Get();^
/usr/local/include/pangolin/var/varvalue.h:99:23: error: ‘class pangolin::VarValue<bool>’ has no member named ‘str’this->str = (VarValueT<std::string>*)this;^
/usr/local/include/pangolin/var/varvalue.h:102:23: error: ‘class pangolin::VarValue<bool>’ has no member named ‘str’this->str = str_ptr;^

解决办法：找到该工程 CMakeLists.txt加入如下代码：

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

即可解决

再编译仍存在问题，报错如下：

/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:14:28: error: ‘Isometry3d’ was not declared in this scopevoid DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>>);^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:14:65: error: ‘Isometry3d’ was not declared in this scopevoid DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>>);^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:14:65: error: template argument 1 is invalid
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:14:75: error: template argument 1 is invalidvoid DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>>);^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:14:75: error: template argument 2 is invalid
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp: In function ‘int main(int, char**)’:
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:18:10: error: ‘Isometry3d’ was not declared in this scopevector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses;^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:18:47: error: the value of ‘Isometry3d’ is not usable in a constant expressionvector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses;^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:18:10: note: ‘Isometry3d’ was not declared ‘constexpr’vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses;^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:18:47: error: type/value mismatch at argument 1 in template parameter list for ‘template<class T> class Eigen::aligned_allocator’vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses;^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:18:47: note:   expected a type, got ‘Isometry3d’
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:18:57: error: template argument 1 is invalidvector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses;^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:18:57: error: template argument 2 is invalid
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:28:16: error: expected ‘;’ before ‘Twr’Isometry3d Twr(Quaterniond(qw, qx, qy, qz));^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:29:5: error: ‘Twr’ was not declared in this scopeTwr.pretranslate(Vector3d(tx, ty, tz));^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:30:11: error: request for member ‘push_back’ in ‘poses’, which is of non-class type ‘int’poses.push_back(Twr);^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:32:34: error: request for member ‘size’ in ‘poses’, which is of non-class type ‘int’cout << "read total " << poses.size() << " pose entries" << endl;^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp: At global scope:
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:40:28: error: ‘Isometry3d’ was not declared in this scopevoid DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses) {^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:40:65: error: ‘Isometry3d’ was not declared in this scopevoid DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses) {^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:40:65: error: template argument 1 is invalid
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:40:75: error: template argument 1 is invalidvoid DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses) {^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:40:75: error: template argument 2 is invalid
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp: In function ‘void DrawTrajectory(int)’:
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:61:34: error: request for member ‘size’ in ‘poses’, which is of non-class type ‘int’for (size_t i = 0; i < poses.size(); i++) {^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:63:28: error: invalid types ‘int[std::size_t {aka long unsigned int}]’ for array subscriptVector3d Ow = poses[i].translation();^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:64:28: error: invalid types ‘int[std::size_t {aka long unsigned int}]’ for array subscriptVector3d Xw = poses[i] * (0.1 * Vector3d(1, 0, 0));^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:65:28: error: invalid types ‘int[std::size_t {aka long unsigned int}]’ for array subscriptVector3d Yw = poses[i] * (0.1 * Vector3d(0, 1, 0));^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:66:28: error: invalid types ‘int[std::size_t {aka long unsigned int}]’ for array subscriptVector3d Zw = poses[i] * (0.1 * Vector3d(0, 0, 1));^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:80:34: error: request for member ‘size’ in ‘poses’, which is of non-class type ‘int’for (size_t i = 0; i < poses.size(); i++) {^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:83:24: error: invalid types ‘int[std::size_t {aka long unsigned int}]’ for array subscriptauto p1 = poses[i], p2 = poses[i + 1];^
/home/sky/LQT/slambook2/ch3/examples/plotTrajectory.cpp:85:18: error: ‘p2’ was not declared in this scopeglVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]);

仔细阅读报错，查看代码发现主要是对 Isometry3d Vector3d等几何模块不支持，发现缺少集合模块头文件，补上头文件：

#include <Eigen/Geometry>

编译成功

若发现程序编译成功后仍不可运行，返回错误：

cannot find trajectory file at ./examples/trajectory.txt

将路径修改为绝对路径即可

// path to trajectory file
string trajectory_file = "/home/sky/LQT/slambook2/ch3/examples/trajectory.txt";

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