本征矩阵 ros/cols 不正确

Question

我无法编译：

Eigen::Map<Eigen::Matrix<const T, EA::ColsAtCompileTime, 1>> x(vec);
auto result = a_ * x - b_; // a(60r,1200c) * x(1200r,1c) - b(60r,1c)

这两个错误（每个错误大约 1000 行）最终得出结论，* 和 - 运算符不能是 "overloaded"（他们的术语，不是我的）。

a_ 属于这种类型：typedef Eigen::Map<Eigen::Matrix<double, ROWS, COLS>> EA;

b_ 属于这种类型：typedef Eigen::Map<Eigen::Matrix<double, ROWS, 1>> EB;

T 是 Ceres Solver Jet 类型。这些错误似乎表明 column/row 不匹配，而不是类型问题。不过，我可能是错的；输出完全过于冗长。我是否误解了行和列如何与特征矩阵运算符一起使用？

更新：我遵循了 "fatal-errors" 建议：

In file included from /usr/include/eigen3/Eigen/Core:437:0,
                 from /usr/local/include/ceres/jet.h:165,
                 from /usr/local/include/ceres/internal/autodiff.h:145,
                 from /usr/local/include/ceres/autodiff_cost_function.h:132,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/brannon/Workspace/Solver/music_solver.cpp:3:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h: In instantiation of ‘class Eigen::PlainObjectBase<Eigen::Matrix<const double, 1200, 1, 0, 1200, 1> >’:
/usr/include/eigen3/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<const double, 1200, 1, 0, 1200, 1>’
/usr/include/eigen3/Eigen/src/Core/Map.h:24:32:   required from ‘struct Eigen::internal::traits<Eigen::Map<Eigen::Matrix<const double, 1200, 1, 0, 1200, 1>, 0, Eigen::Stride<0, 0> > >’
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:32:54:   required from ‘struct Eigen::internal::accessors_level<Eigen::Map<Eigen::Matrix<const double, 1200, 1, 0, 1200, 1>, 0, Eigen::Stride<0, 0> > >’
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:113:75:   required from ‘class Eigen::Map<Eigen::Matrix<const double, 1200, 1, 0, 1200, 1>, 0, Eigen::Stride<0, 0> >’
/home/brannon/Workspace/Solver/music_solver.cpp:18:72:   required from ‘bool MusicCostFunctor<MATRIX_A, MATRIX_B>::operator()(const T*, T*) const [with T = double; MATRIX_A = Eigen::Map<Eigen::Matrix<double, 60, 1200, 0, 60, 1200>, 0, Eigen::Stride<0, 0> >; MATRIX_B = Eigen::Map<Eigen::Matrix<double, 60, 1, 0, 60, 1>, 0, Eigen::Stride<0, 0> >]’
/usr/local/include/ceres/internal/variadic_evaluate.h:175:19:   required from ‘static bool ceres::internal::VariadicEvaluate<Functor, T, N0, 0, 0, 0, 0, 0, 0, 0, 0, 0>::Call(const Functor&, const T* const*, T*) [with Functor = MusicCostFunctor<Eigen::Map<Eigen::Matrix<double, 60, 1200, 0, 60, 1200>, 0, Eigen::Stride<0, 0> >, Eigen::Map<Eigen::Matrix<double, 60, 1, 0, 60, 1>, 0, Eigen::Stride<0, 0> > >; T = double; int N0 = 1200]’
/usr/local/include/ceres/autodiff_cost_function.h:208:17:   required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = MusicCostFunctor<Eigen::Map<Eigen::Matrix<double, 60, 1200, 0, 60, 1200>, 0, Eigen::Stride<0, 0> >, Eigen::Map<Eigen::Matrix<double, 60, 1, 0, 60, 1>, 0, Eigen::Stride<0, 0> > >; int kNumResiduals = 1; int N0 = 1200; int N1 = 0; int N2 = 0; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
/home/brannon/Workspace/Solver/music_solver.cpp:115:1:   required from here
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:585:27: error: ‘static Eigen::PlainObjectBase<Derived>::MapType Eigen::PlainObjectBase<Derived>::Map(Eigen::PlainObjectBase<Derived>::Scalar*) [with Derived = Eigen::Matrix<const double, 1200, 1, 0, 1200, 1>; Eigen::PlainObjectBase<Derived>::MapType = Eigen::Map<Eigen::Matrix<const double, 1200, 1, 0, 1200, 1>, 0, Eigen::Stride<0, 0> >; Eigen::PlainObjectBase<Derived>::Scalar = const double]’ cannot be overloaded
     static inline MapType Map(Scalar* data)
                           ^~~

Answer 1

您需要通过 Eigen:: ScalarBinaryOpTraits 告诉 Eigen 如何混合标量类型。在此处查看类似问题及其解决方案：

https://forum.kde.org/viewtopic.php?f=74&t=141467

Answer 2

再看一遍这个例子： https://groups.google.com/d/msg/ceres-solver/7ZH21XX6HWU/Z3E-k2fbAwAJ

我意识到我把 const 放在了错误的位置。它应该是 Map<const... 而不是 <const T.

本征矩阵 ros/cols 不正确

Eigen matrix ros/cols not working out right

c++

eigen

ceres-solver