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。