Sophus cant build

[PsouthRobotics1182]

If i checkout Sophus commit a621ff, and try to build with make i get this error

`usr/bin/cmake -H/home/drew/svo/workspace/Sophus -B/home/drew/svo/workspace/Sophus/build --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/drew/svo/workspace/Sophus/build/CMakeFiles /home/drew/svo/workspace/Sophus/build/CMakeFiles/progress.marks
make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/drew/svo/workspace/Sophus/build'
make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/depend
make[2]: Entering directory '/home/drew/svo/workspace/Sophus/build'
cd /home/drew/svo/workspace/Sophus/build && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/drew/svo/workspace/Sophus /home/drew/svo/workspace/Sophus /home/drew/svo/workspace/Sophus/build /home/drew/svo/workspace/Sophus/build /home/drew/svo/workspace/Sophus/build/CMakeFiles/Sophus.dir/DependInfo.cmake --color=
Scanning dependencies of target Sophus
make[2]: Leaving directory '/home/drew/svo/workspace/Sophus/build'
make -f CMakeFiles/Sophus.dir/build.make CMakeFiles/Sophus.dir/build
make[2]: Entering directory '/home/drew/svo/workspace/Sophus/build'
[  5%] Building CXX object CMakeFiles/Sophus.dir/sophus/so2.cpp.o
/usr/bin/c++   -DSophus_EXPORTS -I/usr/include/eigen3  -O3 -DNDEBUG  -fPIC   -Wall -Werror -Wno-unused-variable                    -Wno-unused-but-set-variable -Wno-unknown-pragmas  -o CMakeFiles/Sophus.dir/sophus/so2.cpp.o -c /home/drew/svo/workspace/Sophus/sophus/so2.cpp
/home/drew/svo/workspace/Sophus/sophus/so2.cpp: In constructor ‘Sophus::SO2::SO2()’:
/home/drew/svo/workspace/Sophus/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment
   unit_complex_.real() = 1.;
                          ^~
/home/drew/svo/workspace/Sophus/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment
   unit_complex_.imag() = 0.;
                          ^~
CMakeFiles/Sophus.dir/build.make:65: recipe for target 'CMakeFiles/Sophus.dir/sophus/so2.cpp.o' failed
make[2]: *** [CMakeFiles/Sophus.dir/sophus/so2.cpp.o] Error 1
make[2]: Leaving directory '/home/drew/svo/workspace/Sophus/build'
CMakeFiles/Makefile2:107: recipe for target 'CMakeFiles/Sophus.dir/all' failed
make[1]: *** [CMakeFiles/Sophus.dir/all] Error 2
make[1]: Leaving directory '/home/drew/svo/workspace/Sophus/build'
Makefile:141: recipe for target 'all' failed
make: *** [all] Error 2

`
and if I use a later version of sophus which doesnt have this problem i get this error when using 'catkin make' at the end to build rpg-svo

Base path: /home/drew/svo/catkin_ws
Source space: /home/drew/svo/catkin_ws/src
Build space: /home/drew/svo/catkin_ws/build
Devel space: /home/drew/svo/catkin_ws/devel
Install space: /home/drew/svo/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/drew/svo/catkin_ws/build"
####
####
#### Running command: "make -j8 -l8" in "/home/drew/svo/catkin_ws/build"
####
[  0%] Built target geometry_msgs_generate_messages_cpp
[  0%] Built target geometry_msgs_generate_messages_py
[  0%] Built target sensor_msgs_generate_messages_py
[  0%] Built target sensor_msgs_generate_messages_cpp
[  0%] Built target geometry_msgs_generate_messages_lisp
[  0%] Built target sensor_msgs_generate_messages_eus
[  0%] Built target sensor_msgs_generate_messages_lisp
[  0%] Built target geometry_msgs_generate_messages_eus
[  0%] Built target _svo_msgs_generate_messages_check_deps_Feature
[  0%] Built target _svo_msgs_generate_messages_check_deps_DenseInput
[  0%] Built target _svo_msgs_generate_messages_check_deps_NbvTrajectory
[  0%] Built target _svo_msgs_generate_messages_check_deps_Info
[  0%] Built target sensor_msgs_generate_messages_nodejs
[  0%] Built target geometry_msgs_generate_messages_nodejs
[ 13%] Built target svo_msgs_generate_messages_py
[ 13%] Built target svo_msgs_generate_messages_eus
[ 18%] Built target svo_msgs_generate_messages_nodejs
[ 28%] Built target svo_msgs_generate_messages_cpp
[ 28%] Built target svo_msgs_generate_messages_lisp
[ 28%] Built target svo_msgs_generate_messages
[ 32%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o
[ 32%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o
[ 34%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/user_input_thread.cpp.o
[ 35%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o
[ 38%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o
[ 38%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o
[ 32%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o
[ 39%] Building CXX object rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o
In file included from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/src/math_utils.cpp:8:0:
/home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
 #include <sophus/se3.h>
                        ^
compilation terminated.
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:110: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o' failed
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/src/robust_cost.cpp:24:0:
/home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
 #include <sophus/se3.h>
                        ^
compilation terminated.
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:182: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o' failed
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o] Error 1
In file included from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/homography.h:22:0,
                 from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/src/homography.cpp:12:
/home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
 #include <sophus/se3.h>
                        ^
compilation terminated.
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:254: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o' failed
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o] Error 1
In file included from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15:0,
                 from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
 #include <sophus/se3.h>
                        ^
compilation terminated.
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:86: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o' failed
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o] Error 1
In file included from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/src/img_align.cpp:17:0:
/home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
 #include <sophus/se3.h>
                        ^
compilation terminated.
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:278: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o' failed
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o] Error 1
In file included from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/src/pinhole_camera.cpp:15:0:
/home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
 #include <sophus/se3.h>
                        ^
compilation terminated.
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:230: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o' failed
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o] Error 1
In file included from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20:0,
                 from /home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/home/drew/svo/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:24: fatal error: sophus/se3.h: No such file or directory
 #include <sophus/se3.h>
                        ^
compilation terminated.
rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:62: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o' failed
make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o] Error 1
CMakeFiles/Makefile2:1666: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/all' failed
make[1]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

it cant find the header because it doesnt exist in the latest version, but in older versions it has errors. What todo?

[ahmadyan]

It is a known issue with that commit. Try replacing that line with

unit_complex_ = std::complex<double>(1,0);

[cesarhcq]

It is a known issue with that commit. Try replacing that line with

unit_complex_ = std::complex<double>(1,0);

That's fix my problem!

Thank you!

[xiaoxiao5555]

unit_complex_.real(1.);
unit_complex_.imag(0.);