[Python知识库]编译kalibr踩坑之路

使用Eigen库时，遇到Eigen/***: No such file or directory的情况

通常Eigen3在/usr/include或者/usr/local/include目录下；在工程使用#include <Eigen/***>时，就会遇到上述问题；
解决方案：
拷贝Eigen3目录下的Eigen目录到上一级目录
或者
使用
cd /usr/local/include sudo ln -sf eigen3/Eigen Eigen

NUMPY宏定义为NULL

numpy/core/include/numpy/__multiarray_api.h:1541:35: error: return-statement with a value, in function returning 'void' [-fpermissive] #define NUMPY_IMPORT_ARRAY_RETVAL NULL
在文件中
src/autogen_module/numpy_eigen_export_module.cpp
添加

@@ -253,6 +253,8 @@ BOOST_PYTHON_MODULE(libnumpy_eigen)
{
	using namespace boost::python;
	// Without this import, the converter will segfault
+++#undef NUMPY_IMPORT_ARRAY_RETVAL
+++#define NUMPY_IMPORT_ARRAY_RETVAL

Error with boost dependency

CMake Error at /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake:117 (find_package):
  Could not find a package configuration file provided by "boost_python3"
  (requested version 1.71.0) with any of the following names:

    boost_python3Config.cmake
    boost_python3-config.cmake

  Add the installation prefix of "boost_python3" to CMAKE_PREFIX_PATH or set
  "boost_python3_DIR" to a directory containing one of the above files.  If
  "boost_python3" provides a separate development package or SDK, be sure it
  has been installed.

解决：

/kalibr/Schweizer-Messer/numpy_eigen/cmake/add_python_export_library.cmake:89
change
list(APPEND BOOST_COMPONENTS python3)
to
list(APPEND BOOST_COMPONENTS python)