[C++知识库]Error: r13 not allowed here -- sub.w spr1#48

Error: r13 not allowed here -- `sub.w sp,r1,#48'

GitHub - fateshelled/bytetrack_ros: ByteTrack + ROS2 (foxy)

arm?ByteTrack linux编译时出现：

/tmp/kalmanFilter-8c7928.s: Assembler messages:
/tmp/kalmanFilter-8c7928.s:6895: Error: r13 not allowed here -- `sub.w sp,r1,#48'
clang++: error: assembler command failed with exit code 1 (use -v to see invocation)

定位到代码：

		void KalmanFilter::predict(KAL_MEAN &mean, KAL_COVA &covariance){
			//revise the data;
			DETECTBOX std_pos;
			std_pos << _std_weight_position * mean(3),_std_weight_position * mean(3),1e-2,_std_weight_position * mean(3);
			DETECTBOX std_vel;
			std_vel << _std_weight_velocity * mean(3),_std_weight_velocity * mean(3),1e-5,_std_weight_velocity * mean(3);
			KAL_MEAN tmp;
			tmp.block<1, 4>(0, 0) = std_pos;
			tmp.block<1, 4>(0, 4) = std_vel;
			tmp = tmp.array().square();
			KAL_COVA motion_cov = tmp.asDiagonal();
			KAL_MEAN mean1 = this->_motion_mat * mean.transpose();
			// KAL_COVA covariance1 = this->_motion_mat * covariance *(_motion_mat.transpose());
			//covariance1 += motion_cov;

			// mean = mean1;
			//covariance = covariance1;
			covariance = motion_cov;
		}

报错代码：

KAL_MEAN mean1 = this->_motion_mat * mean.transpose();

8x8 *8x1不支持。

?

_motion_mat定义：

?? ??? ??? ?Eigen::Matrix<float, 8, 8, Eigen::RowMajor> _motion_mat;
?? ??? ??? ?Eigen::Matrix<float, 4, 8, Eigen::RowMajor> _update_mat;

KAL_MEAN定义：?

? ?typedef Eigen::Matrix<float, 1, 8, Eigen::RowMajor> KAL_MEAN;

数据定义：

?? ?typedef Eigen::Matrix<float, 1, 8, Eigen::RowMajor> KAL_MEAN;
?? ?typedef Eigen::Matrix<float, 8, 8, Eigen::RowMajor> KAL_COVA;
?? ?typedef Eigen::Matrix<float, 1, 4, Eigen::RowMajor> KAL_HMEAN;
?? ?typedef Eigen::Matrix<float, 4, 4, Eigen::RowMajor> KAL_HCOVA;

这个就OK：

KAL_HMEAN mean1 = _update_mat * mean.transpose();

这个报错：

/mnt/d/project/changcheng/car20210326_track/mask_android/../eigen-3.3.9/Eigen/src/Core/AssignEvaluator.h:833:3: error: static_assert failed
? ? ? "YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES"
? EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)