《视觉SLAM14讲》第七讲pose_estimation_3d2d程序运行报错

2021-09-06 14:46:30 1.7k 阅读 AI 写同款 · GEO 优化AI 选题数据监测一键分发 ›

开源AI视觉实现机器狗姿态检测：从MediaPipe部署到边缘设备实践计算机视觉中的姿态估计技术，旨在通过算法从图像或视频中识别并定位目标（如人体、动物）的关键身体部位。其核心原理通常基于深度学习模型，通过卷积神经网络提取图像特征，并回归预测关键点的坐标位置。这项技术的价值在于为机器提供了“视觉感知”能力，使其能够理解目标的姿态和动作，是实现人机交互、运动分析和行为理解的基础。在机器人、嵌入式系统和边缘计算等应用场景中，轻量化的姿态估计模型（如MediaPipe）因其高效的推理性能而备受青睐。本文聚焦于将这一技术应用于四足机器人——机器狗，详细阐述了如何利用开源视觉库和预训练阅读详情

在运行《视觉SLAM14讲》第七讲程序的时候，出现了报错，说

In file included from /usr/local/include/g2o/core/base_fixed_sized_edge.h:278:0,
                 from /usr/local/include/g2o/core/base_unary_edge.h:30,
                 from /home/zyf/zyf/slam14/slambook_zyf/ch7/pose_estimation_3d2d.cpp:8:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp: In instantiation of ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusN() [with int N = 0; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {VertexPose}]’:
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:191:41:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplusNs(std::index_sequence<Ints ...>) [with long unsigned int ...Ints = {0}; int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {VertexPose}; std::index_sequence<Ints ...> = std::integer_sequence<long unsigned int, 0>]’
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:199:19:   required from ‘void g2o::BaseFixedSizedEdge<D, E, VertexTypes>::linearizeOplus() [with int D = 2; E = Eigen::Matrix<double, 2, 1>; VertexTypes = {VertexPose}]’
/home/zyf/zyf/slam14/slambook_zyf/ch7/pose_estimation_3d2d.cpp:359:1:   required from here
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:165:14: error: ‘FixedArray {aka class ceres::internal::FixedArray<double, 6>}’ has no member named ‘fill’
   add_vertex.fill(0.);
   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:172:30: error: ‘FixedArray {aka class ceres::internal::FixedArray<double, 6>}’ has no member named ‘data’
     vertex->oplus(add_vertex.data());
                   ~~~~~~~~~~~^~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.hpp:178:30: error: ‘FixedArray {aka class ceres::internal::FixedArray<double, 6>}’ has no member named ‘data’
     vertex->oplus(add_vertex.data());
                   ~~~~~~~~~~~^~~~

我也不清楚是怎么回事，重新安装了一遍g2o的库也不行，大佬们给看看是怎么回事

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