[移植"myslam"到zynq上的arm手记] 1 - 移植sophus库

1. 撸一个 toolchain.cmake

set( CMAKE_SYSTEM_NAME Linux )  
set( CMAKE_SYSTEM_PROCESSOR arm )  
set( CMAKE_C_COMPILER arm-linux-gnueabihf-gcc )  
set( CMAKE_CXX_COMPILER arm-linux-gnueabihf-g++ )  
set( CMAKE_INSTALL_PREFIX /home/albireo/lib_arm/sophus) 

 2. cmake

source /media/albireo/backup/opt/Xilinx/SDK/2017.1/settings64.sh
cmake -DCMAKE_TOOLCHAIN_FILE=../toolchain.cmake -DCMAKE_INSTALL_PREFIX=/home/albireo/lib_arm/sophus ..

 3. make

报错

cc1plus: error: include location "/usr/include/eigen3" is unsafe for cross-compilation [-Werror=poison-system-directories]
...

/home/albireo/lib/ARM/Sophus/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment
   unit_complex_.real() = 1.;
                          ^~
/home/albireo/lib/ARM/Sophus/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment
   unit_complex_.imag() = 0.;
...

cc1plus: all warnings being treated as errors

 4. 神马？warnings being treated as errors？

修改CMakeLists.txt

16行：

ADD_DEFINITIONS("-Wall -Werror -Wno-unused-variable
                   -Wno-unused-but-set-variable -Wno-unknown-pragmas ")

去掉-Werror

5. 修改so2.cpp

SO2::SO2()
{
  unit_complex_= std::complex<double>(1,0);
  // unit_complex_.real() = 1.;
  // unit_complex_.imag() = 0.;
}

如上修改

伊克斯kiu死米？喵喵喵？？？这什么鬼语法？？？为啥之前编译能通过的我很好骑

6. make, make install