Ubuntu16.04运行slam14讲ch4完美调试后cmakelist修改记录

 trajectorError.cpp的cmaklist.txt修改记录：

cmake_minimum_required(VERSION 3.12)

option(USE_UBUNTU_16 "Set to ON if you are using Ubuntu 16.04" OFF)
add_definitions(-std=c++11)
find_package(Pangolin REQUIRED)
if(USE_UBUNTU_20)
    message("You are using Ubuntu 16.04, fmt::fmt will be linked")
    find_package(fmt REQUIRED)
    set(FMT_LIBRARIES fmt::fmt)
endif()
include_directories(${Pangolin_INCLUDE_DIRS})
add_executable(trajectoryError trajectoryError.cpp)
target_link_libraries(trajectoryError ${Pangolin_LIBRARIES} ${FMT_LIBRARIES})
target_link_libraries(trajectoryError ${Sophus_LIBRARIES} fmt)

 useSophus.cpp的cmakelist.txt修改记录：

cmake_minimum_required(VERSION 3.0)
project(useSophus)
add_definitions(-std=c++11)
# 为使用 sophus，需要使用find_package命令找到它
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
# Eigen
include_directories("/usr/local/include/eigen3")
add_executable(useSophus useSophus.cpp)
target_link_libraries(useSophus ${Sophus_LIBRARIES} fmt)

add_subdirectory(example)

编译通过后运行时报错未找到：

trajectory ./example/groundtruth.txt not found.
trajectory ./example/estimated.txt not found.
trajectoryError: /home/rui/slambook2/ch4/example/trajectoryError.cpp:22: int main(int, char**): Assertion `!groundtruth.empty() && !estimated.empty()' failed.

解决方法： 将cpp代码段此处修改为图中所示即可完美运行，原理解释是因为在kdevelop中目录分层问题。