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Question

我在編譯#include這個程序時遇到了麻煩。我看到，如果我註釋掉它編譯的這條線。 MatrixXd A =（1.0 /（double）d）*（p * U * p.transpose（） - （p * u）*（p * u）.transpose（））。inverse（）;

我無法更改標題，因爲我需要在ROS中運行此代碼，並且必須使用內置的Eigen庫。我正在使用此鏈接中描述的代碼
How to fit a bounding ellipse around a set of 2D points。
任何幫助都很大。

pound include iostream 
    pound include Eigen/Dense 
    using namespace std; 
    using Eigen::MatrixXd; 
    int main () 
    { 

    //The tolerance for error in fitting the ellipse 
    double tolerance = 0.2; 
    int n = 12; // number of points 
    int d = 2; // dimension 
    MatrixXd p(d,n); //Fill matrix with random points 

    p(0,0) = -2.644722; 
    p(0,1) = -2.644961; 
    p(0,2) = -2.647504; 
    p(0,3) = -2.652942; 
    p(0,4) = -2.652745; 
    p(0,5) = -2.649508; 
    p(0,6) = -2.651345; 
    p(0,7) = -2.654530; 
    p(0,8) = -2.651370; 
    p(0,9) = -2.653966; 
    p(0,10) = -2.661322; 
    p(0,11) = -2.648208; 

    p(1,0) = 4.764553; 
    p(1,1) = 4.718605; 
    p(1,2) = 4.676985; 
    p(1,3) = 4.640509; 
    p(1,4) = 4.595640; 
    p(1,5) = 4.546657; 
    p(1,6) = 4.506177; 
    p(1,7) = 4.468277; 
    p(1,8) = 4.421263; 
    p(1,9) = 4.383508; 
    p(1,10) = 4.353276; 
    p(1,11) = 4.293307; 


    cout << p << endl; 

    MatrixXd q = p; 
    q.conservativeResize(p.rows() + 1, p.cols()); 

    for(size_t i = 0; i < q.cols(); i++) 
    { 
     q(q.rows() - 1, i) = 1; 
    } 

    int count = 1; 
    double err = 1; 

    const double init_u = 1.0/(double) n; 
    MatrixXd u = MatrixXd::Constant(n, 1, init_u); 


    while(err > tolerance) 
    { 
     MatrixXd Q_tr = q.transpose(); 
     cout << "1 " << endl; 
     MatrixXd X = q * u.asDiagonal() * Q_tr; 
     cout << "1a " << endl; 
     MatrixXd M = (Q_tr * X.inverse() * q).diagonal(); 
     cout << "1b " << endl; 



     int j_x, j_y; 
     double maximum = M.maxCoeff(&j_x, &j_y); 
     double step_size = (maximum - d - 1)/((d + 1) * (maximum + 1)); 

     MatrixXd new_u = (1 - step_size) * u; 
     new_u(j_x, 0) += step_size; 

     cout << "2 " << endl; 

     //Find err 
     MatrixXd u_diff = new_u - u; 
     for(size_t i = 0; i < u_diff.rows(); i++) 
     { 
     for(size_t j = 0; j < u_diff.cols(); j++) 
       u_diff(i, j) *= u_diff(i, j); // Square each element of the   matrix 
     } 
     err = sqrt(u_diff.sum()); 
     count++; 
     u = new_u; 
    } 

    cout << "3 " << endl; 
    MatrixXd U = u.asDiagonal(); 
    MatrixXd A = (1.0/(double) d) * (p * U * p.transpose() - (p * u) * (p * u).transpose()).inverse(); 
    MatrixXd c = p * u; 

    cout << A << endl; 
    cout << c << endl; 

    return 0; 
} 

Answer 1

如果我通過

#include <iostream> 
#include <Eigen/Dense> 

更換明顯pound include假它編譯就好了。它也運行，打印一些數字並返回0.