glog/log_severity.h :找不到

#include <iostream> #include <fstream> #include <vector> #include <Eigen/Core> #include <Eigen/Geometry> #include <g2o/core/base_vertex.h> #include <g2o/core/base_binary_edge.h> #include <g2o/core/base_unary_edge.h> #include <g2o/core/block_solver.h> #include <g2o/core/optimization_algorithm_levenberg.h> #include <g2o/solvers/dense/linear_solver_dense.h> #include <g2o/types/slam3d/vertex_se3.h> #include <g2o/types/slam3d/edge_se3.h> #include <g2o/core/eigen_types.h> #include <g2o/types/slam3d/types_slam3d.h> #include <opencv2/opencv.hpp> using namespace std; using namespace Eigen; struct Edge { size_t s; // Start index size_t e; // End index Isometry3d pose; // Relative pose between start and end }; class INS { public: void optimizeTrajectory(std::vector<Isometry3d> &poses) { std::vector<Edge> edgeData; for (size_t i = 0; i < poses.size() - 1; ++i) { Edge edge_data; edge_data.s = i; edge_data.e = i + 1; edge_data.pose = poses[i].inverse() * poses[i + 1]; edgeData.push_back(edge_data); } // 添加最后一个点到第一个点的边 Edge edge_data; edge_data.s = poses.size() - 1; // 最后一个点的索引 edge_data.e = 0; // 第一个点的索引 Isometry3d error_pose = poses[edge_data.s]; Isometry3d true_pose = error_pose * calibration_error_.Get(); LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); edge_data.pose = true_pose.inverse() * poses[edge_data.e]; edgeData.push_back(edge_data); std::unique_ptr<g2o::LinearSolverDense<g2o::BlockSolverX::PoseMatrixType>> linearSolver = std::make_unique<g2o::LinearSolverDense<g2o::BlockSolverX::PoseMatrixType>>(); g2o::OptimizationAlgorithmLevenberg *solver = new g2o::OptimizationAlgorithmLevenberg( std::make_unique<g2o::BlockSolverX>(std::move(linearSolver))); g2o::SparseOptimizer optimizer; optimizer.setAlgorithm(solver); optimizer.setVerbose(false); for (int i = 0; i < poses.size(); i++) { g2o::VertexSE3 *v = new g2o::VertexSE3(); v->setId(i); v->setEstimate(poses[i]); if (i == 0) { v->setFixed(true); } optimizer.addVertex(v); } for (const auto &pData : edgeData) { g2o::EdgeSE3 *edge = new g2o::EdgeSE3(); edge->setVertex(0, optimizer.vertex(pData.s)); edge->setVertex(1, optimizer.vertex(pData.e)); if (&pData == &edgeData.back()) { LogWarn("*******&pData == &edgeData.back()************"); edge->setInformation(Matrix6d::Identity() * 100000); } else { edge->setInformation(Matrix6d::Identity() * 0.001); } edge->setMeasurement(pData.pose); optimizer.addEdge(edge); } optimizer.initializeOptimization(); optimizer.optimize(500); for (int i = 0; i < poses.size(); i++) { g2o::VertexSE3 *vertex = dynamic_cast<g2o::VertexSE3 *>(optimizer.vertex(i)); poses[i] = vertex->estimate(); } LogWarn("Trajectory optimization successful !!!!!!!!!!"); } private: struct CalibrationError { Isometry3d Get() const { Isometry3d calib; calib.setIdentity(); calib.translate(Vector3d(0.1, 0.1, 0.1)); // Example calibration error calib.rotate(AngleAxisd(Deg2Rad(0.1), Vector3d::UnitZ())); // Example rotation error return calib; } }; double Deg2Rad(double deg) const { return deg * M_PI / 180.0; } CalibrationError calibration_error_; template<typename T> void LogInfo(const T& message) { cout << "[INFO] " << message << endl; } template<typename T> void LogWarn(const T& message) { cout << "[WARN] " << message << endl; } string matrixToString(const Matrix4d& matrix) { stringstream ss; ss << matrix; return ss.str(); } }; void generateSimulatedTrajectory(std::vector<Isometry3d>& poses, int numPoints) { double sideLength = 4.0; // 正方形的边长 double angleStep = INS().Deg2Rad(90.0); // 每个转角的角度 for (int i = 0; i < numPoints; ++i) { Isometry3d pose = Isometry3d::Identity(); switch (i % 4) { case 0: pose.translation() = Vector3d(sideLength * (i / 4), 0, 0); break; case 1: pose.translation() = Vector3d(sideLength * (i / 4 + 1), 0, 0); pose.rotate(AngleAxisd(angleStep, Vector3d::UnitZ())); break; case 2: pose.translation() = Vector3d(sideLength * (i / 4 + 1), sideLength, 0); pose.rotate(AngleAxisd(angleStep * 2, Vector3d::UnitZ())); break; case 3: pose.translation() = Vector3d(sideLength * (i / 4), sideLength, 0); pose.rotate(AngleAxisd(angleStep * 3, Vector3d::UnitZ())); break; } // 加入误差 pose.translate(Vector3d(rand() / double(RAND_MAX) * 0.1, rand() / double(RAND_MAX) * 0.1, rand() / double(RAND_MAX) * 0.1)); pose.rotate(AngleAxisd(INS().Deg2Rad(rand() % 2), Vector3d::UnitZ())); poses.push_back(pose); } } void drawTrajectory(const std::vector<Isometry3d>& poses, const std::string& title) { cv::Mat img(800, 800, CV_8UC3, cv::Scalar(255, 255, 255)); for (size_t i = 0; i < poses.size(); ++i) { Vector3d pos = poses[i].translation(); if (i > 0) { Vector3d prevPos = poses[i-1].translation(); cv::line(img, cv::Point((prevPos.x() + 4.0) * 100, (-prevPos.y() + 4.0) * 100), cv::Point((pos.x() + 4.0) * 100, (-pos.y() + 4.0) * 100), cv::Scalar(0, 255, 0), 2); } cv::circle(img, cv::Point((pos.x() + 4.0) * 100, (-pos.y() + 4.0) * 100), 3, cv::Scalar(0, 0, 0), -1); } cv::imshow(title, img); cv::waitKey(1); } int main() { srand(time(NULL)); int numTrajectoryPoints = 16; // 轨迹点数量（正方形的四个角重复四次） std::vector<Isometry3d> trajectory(numTrajectoryPoints); // 生成模拟轨迹 generateSimulatedTrajectory(trajectory, numTrajectoryPoints); // 显示优化前的轨迹 drawTrajectory(trajectory, "Before Optimization"); // 创建INS对象并进行优化 INS ins_optimizer; ins_optimizer.optimizeTrajectory(trajectory); // 显示优化后的轨迹 drawTrajectory(trajectory, "After Optimization"); cv::waitKey(0); return 0; } 报错：/usr/include/c++/9/ostream:523:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:528:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, unsigned char)’ 528 | operator<<(basic_ostream<char, _Traits>& __out, unsigned char __c) | ^~~~~~~~ /usr/include/c++/9/ostream:528:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:548:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const _CharT*)’ 548 | operator<<(basic_ostream<_CharT, _Traits>& __out, const _CharT* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:548:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/ostream:702, from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/bits/ostream.tcc:321:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const char*)’ 321 | operator<<(basic_ostream<_CharT, _Traits>& __out, const char* __s) | ^~~~~~~~ /usr/include/c++/9/bits/ostream.tcc:321:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:565:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, const char*)’ 565 | operator<<(basic_ostream<char, _Traits>& __out, const char* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:565:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:578:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, const signed char*)’ 578 | operator<<(basic_ostream<char, _Traits>& __out, const signed char* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:578:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:583:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, const unsigned char*)’ 583 | operator<<(basic_ostream<char, _Traits>& __out, const unsigned char* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:583:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:691:5: note: candidate: ‘template<class _Ostream, class _Tp> typename std::enable_if<std::__and_<std::__not_<std::is_lvalue_reference<_Tp> >, std::__is_convertible_to_basic_ostream<_Ostream>, std::__is_insertable<typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type, const _Tp&, void> >::value, typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type>::type std::operator<<(_Ostream&&, const _Tp&)’ 691 | operator<<(_Ostream&& __os, const _Tp& __x) | ^~~~~~~~ /usr/include/c++/9/ostream:691:5: note: template argument deduction/substitution failed: /usr/include/c++/9/ostream: In substitution of ‘template<class _Ostream, class _Tp> typename std::enable_if<std::__and_<std::__not_<std::is_lvalue_reference<_Tp> >, std::__is_convertible_to_basic_ostream<_Ostream>, std::__is_insertable<typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type, const _Tp&, void> >::value, typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type>::type std::operator<<(_Ostream&&, const _Tp&) [with _Ostream = const char (&)[32]; _Tp = std::__cxx11::basic_string<char>]’: /home/guo/g2o仿真/src/optimize.cc:46:103: required from here /usr/include/c++/9/ostream:691:5: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’ In file included from /usr/local/include/eigen3/Eigen/Core:50, from /home/guo/g2o仿真/src/optimize.cc:4: /usr/include/c++/9/complex:552:5: note: candidate: ‘template<class _Tp, class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const std::complex<_Tp>&)’ 552 | operator<<(basic_ostream<_CharT, _Traits>& __os, const complex<_Tp>& __x) | ^~~~~~~~ /usr/include/c++/9/complex:552:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/hyper_graph.h:31, from /opt/ros/noetic/include/g2o/core/optimizable_graph.h:35, from /opt/ros/noetic/include/g2o/core/base_vertex.h:30, from /home/guo/g2o仿真/src/optimize.cc:6: /usr/include/c++/9/bitset:1538:5: note: candidate: ‘template<class _CharT, class _Traits, long unsigned int _Nb> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const std::bitset<_Nb>&)’ 1538 | operator<<(std::basic_ostream<_CharT, _Traits>& __os, | ^~~~~~~~ /usr/include/c++/9/bitset:1538:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/memory:81, from /opt/ros/noetic/include/g2o/core/robust_kernel.h:30, from /opt/ros/noetic/include/g2o/core/base_binary_edge.h:34, from /home/guo/g2o仿真/src/optimize.cc:7: /usr/include/c++/9/bits/shared_ptr.h:66:5: note: candidate: ‘template<class _Ch, class _Tr, class _Tp, __gnu_cxx::_Lock_policy _Lp> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const std::__shared_ptr<_Tp, _Lp>&)’ 66 | operator<<(std::basic_ostream<_Ch, _Tr>& __os, | ^~~~~~~~ /usr/include/c++/9/bits/shared_ptr.h:66:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:79:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Resetiosflags)’ 79 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Resetiosflags __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:79:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:109:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setiosflags)’ 109 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setiosflags __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:109:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:143:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setbase)’ 143 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setbase __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:143:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:178:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setfill<_CharT>)’ 178 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setfill<_CharT> __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:178:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:208:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setprecision)’ 208 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setprecision __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:208:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:238:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setw)’ 238 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setw __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:238:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:311:5: note: candidate: ‘template<class _CharT, class _Traits, class _MoneyT> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Put_money<_MoneyT>)’ 311 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Put_money<_MoneyT> __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:311:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:363:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Put_time<_CharT>)’ 363 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Put_time<_CharT> __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:363:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/local/include/eigen3/Eigen/Core:269, from /home/guo/g2o仿真/src/optimize.cc:4: /usr/local/include/eigen3/Eigen/src/Core/IO.h:249:16: note: candidate: ‘template<class Derived> std::ostream& Eigen::operator<<(std::ostream&, const Eigen::DenseBase<Derived>&)’ 249 | std::ostream & operator << | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Core/IO.h:249:16: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: ‘std::string’ {aka ‘std::__cxx11::basic_string<char>’} is not derived from ‘const Eigen::DenseBase<Derived>’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ /home/guo/g2o仿真/src/optimize.cc:77:38: error: ‘Matrix6d’ has not been declared 77 | edge->setInformation(Matrix6d::Identity() * 100000); | ^~~~~~~~ /home/guo/g2o仿真/src/optimize.cc:79:38: error: ‘Matrix6d’ has not been declared 79 | edge->setInformation(Matrix6d::Identity() * 0.001); | ^~~~~~~~ /home/guo/g2o仿真/src/optimize.cc: In member function ‘Eigen::Isometry3d INS::CalibrationError::Get() const’: /home/guo/g2o仿真/src/optimize.cc:101:48: error: cannot call member function ‘double INS::Deg2Rad(double) const’ without object 101 | calib.rotate(AngleAxisd(Deg2Rad(0.1), Vector3d::UnitZ())); // Example rotation error | ^ /home/guo/g2o仿真/src/optimize.cc: In function ‘void generateSimulatedTrajectory(std::vector<Eigen::Transform<double, 3, 1> >&, int)’: /home/guo/g2o仿真/src/optimize.cc:131:42: error: ‘double INS::Deg2Rad(double) const’ is private within this context 131 | double angleStep = INS().Deg2Rad(90.0); // 每个转角的角度 | ^ /home/guo/g2o仿真/src/optimize.cc:106:12: note: declared private here 106 | double Deg2Rad(double deg) const { | ^~~~~~~ /home/guo/g2o仿真/src/optimize.cc:146:56: error: ‘double INS::Deg2Rad(double) const’ is private within this context 146 | pose.rotate(AngleAxisd(INS().Deg2Rad(rand() % 2), Vector3d::UnitZ())); | ^ /home/guo/g2o仿真/src/optimize.cc:106:12: note: declared private here 106 | double Deg2Rad(double deg) const { | ^~~~~~~ make[2]: *** [CMakeFiles/g2o_demo.dir/build.make:76：CMakeFiles/g2o_demo.dir/optimize.cc.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:673：CMakeFiles/g2o_demo.dir/all] 错误 2 make: *** [Makefile:146：all] 错误 2 给出完整修改后代码

int main(int argc, char *argv[]) { // ====== 关键修改部分 ====== // 1. 在初始化前设置核心参数 FLAGS_logtostderr = false; // 禁用终端输出 FLAGS_alsologtostderr = false; // 确保不输出到stderr FLAGS_stderrthreshold = 4; // FATAL及以上才到stderr(几乎无输出) FLAGS_log_dir = "/dev/null"; // ✨ 关键! 重定向默认输出到黑洞 // 替代原来空的""设置 google::SetLogFilenameExtension(""); // 禁用后缀扩展名 // 禁用日志文件名中的时间戳 // 禁用默认的分级文件输出 google::InitGoogleLogging(argv[0]); google::SetCommandLineOption("timestamp_in_logfile_name", "false"); // 将所有日志级别输出到同一个文件 google::SetLogFilenameExtension(""); google::SetLogDestination(google::INFO, ""); google::SetLogDestination(google::WARNING, ""); google::SetLogDestination(google::ERROR, ""); google::SetLogDestination(google::FATAL, ""); // 3. 设置统一输出文件 (不含时间戳的自定义名称) const std::string log_path = "/data/log/log_watcher.log"; google::SetLogDestination(google::INFO, log_path.c_str());我改成了这样子了.生成还是有时间戳

In file included from /workspace/x2/dfx/modules/hiviewx_watcher/component/log_watcher/main.cpp:6: /workspace/x2/dfx/modules/hiviewx_watcher/component/log_watcher/include/glog_sink.h: In member function ‘void CustomFileSink::ReopenLogFile()’: /workspace/x2/dfx/modules/hiviewx_watcher/component/log_watcher/include/glog_sink.h:250:43: error: cannot convert ‘std::basic_ofstream<char>::__filebuf_type*’ {aka ‘std::basic_filebuf<char>*’} to ‘FILE*’ 250 | int fd = fileno(outfile_.rdbuf()); | ~~~~~~~~~~~~~~^~ | | | std::basic_ofstream<char>::__filebuf_type* {aka std::basic_filebuf<char>*} In file included from /usr/include/c++/11/cstdio:42, from /usr/include/c++/11/ext/string_conversions.h:43, from /usr/include/c++/11/bits/basic_string.h:6608, from /usr/include/c++/11/string:55, from /usr/include/c++/11/stdexcept:39, from /usr/include/boost/asio/execution/receiver_invocation_error.hpp:19, from /usr/include/boost/asio/execution/detail/as_invocable.hpp:22, from /usr/include/boost/asio/execution/execute.hpp:20, from /usr/include/boost/asio/execution/executor.hpp:20, from /usr/include/boost/asio/associated_executor.hpp:20, from /usr/include/boost/asio.hpp:21, from /workspace/x2/dfx/modules/hiviewx_watcher/component/log_watcher/main.cpp:2: /usr/include/stdio.h:809:26: note: initializing argument 1 of ‘int fileno(FILE*)’ 809 | extern int fileno (FILE *__stream) __THROW __wur; | ~~~~~~^~~~~~~~ make[2]: *** [modules/hiviewx_watcher/component/log_watcher/CMakeFiles/log_watcher.dir/build.make:76: modules/hiviewx_watcher/component/log_watcher/CMakeFiles/log_watcher.dir/main.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:585: modules/hiviewx_watcher/component/log_watcher/CMakeFiles/log_watcher.dir/all] Error 2 make: *** [Makefile:136: all] Error 2 ================================================== 这是我的报错信息. void ReopenLogFile() { std::lock_guard<std::mutex> lock(file_mutex_); // 先关闭现有文件 if (outfile_.is_open()) { outfile_.flush(); outfile_.close(); } // 确保目录存在 auto dir_path = std::filesystem::path(log_file_path_).parent_path(); if (!dir_path.empty()) { std::filesystem::create_directories(dir_path); } // 重新打开文件 outfile_.open(log_file_path_, std::ios::out | std::ios::app); if (!outfile_.is_open()) { std::cerr << "[ERROR] Failed to open log file: " << log_file_path_ << " - " << strerror(errno) << std::endl; } else { std::cout << "[DEBUG] Successfully reopened log file: " << log_file_path_ << std::endl; // 获取底层文件描述符 (仅用于调试) int fd = fileno(outfile_.rdbuf()); std::cout << "[DEBUG] New file descriptor: " << fd << std::endl; // 强制立即写入到磁盘 fsync(fd); } }这是我的代码.错误如何修改呢