Error: r13 not allowed here -- sub.w sp,r1,#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:
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void KalmanFilter::predict(KAL_MEAN &mean, KAL_COVA &covariance){
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//revise the data;
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DETECTBOX std_pos;
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std_pos << _std_weight_position * mean(3),_std_weight_position * mean(3),1e-2,_std_weight_position * mean(3);
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DETECTBOX std_vel;
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std_vel << _std_weight_velocity * mean(3),_std_weight_velocity * mean(3),1e-5,_std_weight_velocity * mean(3);
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KAL_MEAN tmp;
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tmp.block<1, 4>(0, 0) = std_pos;
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tmp.block<1, 4>(0, 4) = std_vel;
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tmp = tmp.array().square();
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KAL_COVA motion_cov = tmp.asDiagonal();
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KAL_MEAN mean1 = this->_motion_mat * mean.transpose();
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// KAL_COVA covariance1 = this->_motion_mat * covariance *(_motion_mat.transpose());
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//covariance1 += motion_cov;
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// mean = mean1;
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//covariance = covariance1;
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covariance = motion_cov;
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}
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)
文章来源: blog.csdn.net,作者:AI视觉网奇,版权归原作者所有,如需转载,请联系作者。
原文链接:blog.csdn.net/jacke121/article/details/122259740
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