visp库中解决lapack库的问题

解决的办法是——绕过去，不要用这个库：

使用中发现如下代码抛出异常：

  //vpTemplateTracker.cpp
  try {
    initHessienDesired(I);
    ptTemplateSuppPyr[0] = ptTemplateSupp;
    ptTemplateCompoPyr[0] = ptTemplateCompo;
    HdesirePyr[0] = Hdesire;
    HLMdesirePyr[0] = HLMdesire;
    HLMdesireInversePyr[0] = HLMdesireInverse;
  } catch (const vpException &e) {
    ptTemplateSuppPyr[0] = ptTemplateSupp;
    ptTemplateCompoPyr[0] = ptTemplateCompo;
    HdesirePyr[0] = Hdesire;
    HLMdesirePyr[0] = HLMdesire;
    HLMdesireInversePyr[0] = HLMdesireInverse;
    throw(e);
  }　　

调用栈是：

#5  0x00007ffff7b33b93 in __cxa_throw () from /lib64/libstdc++.so.6
#6  0x0000000000416b80 in vpTemplateTracker::initHessienDesiredPyr (this=0x7fffffffd470, I=...)
    at /data/ahfu/visp/modules/tracker/tt/src/vpTemplateTracker.cpp:756
#7  0x0000000000416603 in vpTemplateTracker::initFromPoints (this=0x7fffffffd470, I=..., v_ip=...,
    delaunay=false) at /data/ahfu/visp/modules/tracker/tt/src/vpTemplateTracker.cpp:704
#8  0x0000000000406a47 in main (argc=1, argv=0x7fffffffe358) at test.cpp:148　　

不太清楚究竟为何抛异常，于是注释掉try catch，重新编译链接执行。

看到了如下异常信息：

#5  0x00007ffff7b33b93 in __cxa_throw () from /lib64/libstdc++.so.6
#6  0x00000000004519b9 in vpMatrix::inverseByLULapack (this=0x7fffffffc390)
    at /data/ahfu/visp/modules/core/src/math/matrix/vpMatrix_lu.cpp:385
#7  0x00000000004514ff in vpMatrix::inverseByLU (this=0x7fffffffc390)
    at /data/ahfu/visp/modules/core/src/math/matrix/vpMatrix_lu.cpp:133
#8  0x000000000040d477 in vpTemplateTrackerSSDInverseCompositional::initCompInverse (
    this=0x7fffffffd470)
    at /data/ahfu/visp/modules/tracker/tt/src/ssd/vpTemplateTrackerSSDInverseCompositional.cpp:79
#9  0x000000000040d7c3 in vpTemplateTrackerSSDInverseCompositional::initHessienDesired (
    this=0x7fffffffd470, I=...)
    at /data/ahfu/visp/modules/tracker/tt/src/ssd/vpTemplateTrackerSSDInverseCompositional.cpp:103
#10 0x00000000004167b1 in vpTemplateTracker::initHessienDesiredPyr (this=0x7fffffffd470, I=...)
    at /data/ahfu/visp/modules/tracker/tt/src/vpTemplateTracker.cpp:744
#11 0x0000000000416603 in vpTemplateTracker::initFromPoints (this=0x7fffffffd470, I=..., v_ip=...,
    delaunay=false) at /data/ahfu/visp/modules/tracker/tt/src/vpTemplateTracker.cpp:704
#12 0x0000000000406a47 in main (argc=1, argv=0x7fffffffe358) at test.cpp:148　　

更换了最新的lapack库，仍然无法解决。

查看visp/modules/core/src/math/matrix/vpMatrix_lu.cpp 发现了这样的注释：

    111   std::cout << "Inverse by LU ";
    112 #if defined(VISP_HAVE_LAPACK)
    113   std::cout << "(using Lapack)";
    114 #elif defined(VISP_HAVE_EIGEN3)
    115   std::cout << "(using Eigen3)";
    116 #elif (VISP_HAVE_OPENCV_VERSION >= 0x020101)
    117   std::cout << "(using OpenCV)";
    118 #elif defined (VISP_HAVE_GSL)
    119   std::cout << "(using GSL)";
    120 #endif　　

说明编译选项可以选择不同的库。

于是：

cd /data/ahfu/visp/

mkdir build

cd build

ccmake ..  #在界面中把 WITH_LAPACK设置为OFF

cmake ..

make -j

make install

重新编译测试程序运行，一切正常。