/home/sunrise/ORB_SLAM3/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc: In member function ‘void ImageGrabber::GrabImage(const ImageConstPtr&)’:/home/sunrise/ORB_SLAM3/Examples/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc:151:41: error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec()); | ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~make[2]: *** [CMakeFiles/MonoAR.dir/build.make:118:CMakeFiles/MonoAR.dir/src/AR/ros_mono_ar.cc.o] 错误 1make[1]: *** [CMakeFiles/Makefile2:599:CMakeFiles/MonoAR.dir/all] 错误 2make: *** [Makefile:130:all] 错误 2