一、问题描述

自己在编译Sophus时遇到如下错误：

/home/wong/Datum/third_party/Sophus-1.0.0-template/Sophus-1.0.0/test/core/test_so2.cpp:82:31: error: implicitly-declared ‘Eigen::Map<const Sophus::SO2<double> >::Map(const Eigen::Map<const Sophus::SO2<double> >&)’ is deprecated [-Werror=deprecated-copy]82 |     Eigen::Map<SO2Type const> const_shallow_copy = map_of_const_so2;

二、解决方法

在 CMakeLists.txt 中添加如下语句：

set(CMAKE_CXX_FLAGS "-Wno-error=deprecated-declarations -Wno-deprecated-declarations ")

这里是我添加之后的CMakeLists.txt

SET(PROJECT_NAME Sophus)PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)SET( CMAKE_VERBOSE_MAKEFILE ON)################################################################################
# Release by default
# Turn on Debug with "-DCMAKE_BUILD_TYPE=Debug"
IF( NOT CMAKE_BUILD_TYPE )SET( CMAKE_BUILD_TYPE Release )
ENDIF()set(CMAKE_CXX_STANDARD 14)
IF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")SET(CMAKE_CXX_FLAGS_RELEASE "-O3")SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -Wno-deprecated-register -std=c++14 -stdlib=libc++ -Wno-deprecated-register")
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")SET(CMAKE_CXX_FLAGS_DEBUG  "-O0 -g")SET(CMAKE_CXX_FLAGS_RELEASE "-O3")SET(CMAKE_CXX_FLAGS "-Wall -Werror -Wextra -std=c++14 -Wno-deprecated-declarations -ftemplate-backtrace-limit=0")SET(CMAKE_CXX_FLAGS_COVERAGE "${CMAKE_CXX_FLAGS_DEBUG} --coverage -fno-inline -fno-inline-small-functions -fno-default-inline")SET(CMAKE_EXE_LINKER_FLAGS_COVERAGE "${CMAKE_EXE_LINKER_FLAGS_DEBUG} --coverage")SET(CMAKE_SHARED_LINKER_FLAGS_COVERAGE "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} --coverage")
ELSEIF("${CMAKE_CXX_COMPILER_ID}" STREQUAL "MSVC")ADD_DEFINITIONS("-D _USE_MATH_DEFINES /wd4305 /wd4244")
ENDIF()################################################################################
set(CMAKE_CXX_FLAGS "-Wno-error=deprecated-declarations -Wno-deprecated-declarations ")# 下方省略n行

然后再次编译就可以了~

参考链接

[1] strasdat. Can’t build #214 [EB/OL]. https://github.com/strasdat/Sophus/issues/214, 2019-07-17/2022-12-06.
[2] cmake 出现大量的警告 deprecated-declarations [EB/OL]. https://www.cnblogs.com/ramlife/p/13740968.html, 2020-09-27/2022-12-06.
[3] Sophus安装踩坑 [EB/OL]. https://blog.csdn.net/weixin_41698305/article/details/116547361, 2021-05-08/2022-12-06.