Build Error On Ubunto 20.04, ROS Noetic, Ceres 2.2 #415
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|
Pull ceres from github https://github.com/ceres-solver/ceres-solver, checkout branch 1.14.x and install as normal. |
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I am Having the following error ....
λ › catkin_make ~/catkin_workspace
Base path: /home/uzi/catkin_workspace
Source space: /home/uzi/catkin_workspace/src
Build space: /home/uzi/catkin_workspace/build
Devel space: /home/uzi/catkin_workspace/devel
Install space: /home/uzi/catkin_workspace/install
Running command: "make cmake_check_build_system" in "/home/uzi/catkin_workspace/build"
Running command: "make -j4 -l4" in "/home/uzi/catkin_workspace/build"
Consolidate compiler generated dependencies of target camera_model
Consolidate compiler generated dependencies of target Calibration
[ 3%] Built target benchmark_publisher
Consolidate compiler generated dependencies of target vins_estimator
[ 4%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/calib/CameraCalibration.cc.o
[ 6%] Building CXX object VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/camera_models/CataCamera.cc.o
[ 7%] Building CXX object VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/calib/CameraCalibration.cc.o
[ 9%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o
/home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc: In member function ‘void camodocal::CameraCalibration::optimize(camodocal::CameraPtr&, std::vectorcv::Mat&, std::vectorcv::Mat&) const’:
/home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:507:39: warning: ‘LocalParameterization’ is deprecated: LocalParameterizations will be removed from the Ceres Solver API in version 2.2.0. Use Manifolds instead. [-Wdeprecated-declarations]
507 | ceres::LocalParameterization* quaternionParameterization =
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/uzi/catkin_workspace/src/VINS-Mono/camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h:4,
from /home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:16:
/usr/local/include/ceres/local_parameterization.h:121:18: note: declared here
121 | CERES_EXPORT LocalParameterization {
| ^~~~~~~~~~~~~~~~~~~~~
/home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:510:17: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’?
510 | problem.SetParameterization(transformVec.at(i).rotationData(),
| ^~~~~~~~~~~~~~~~~~~
| SetParameterLowerBound
/home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc: In member function ‘void camodocal::CameraCalibration::optimize(camodocal::CameraPtr&, std::vectorcv::Mat&, std::vectorcv::Mat&) const’:
/home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:507:39: warning: ‘LocalParameterization’ is deprecated: LocalParameterizations will be removed from the Ceres Solver API in version 2.2.0. Use Manifolds instead. [-Wdeprecated-declarations]
507 | ceres::LocalParameterization* quaternionParameterization =
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/uzi/catkin_workspace/src/VINS-Mono/camera_model/include/camodocal/gpl/EigenQuaternionParameterization.h:4,
from /home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:16:
/usr/local/include/ceres/local_parameterization.h:121:18: note: declared here
121 | CERES_EXPORT LocalParameterization {
| ^~~~~~~~~~~~~~~~~~~~~
/home/uzi/catkin_workspace/src/VINS-Mono/camera_model/src/calib/CameraCalibration.cc:510:17: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’?
510 | problem.SetParameterization(transformVec.at(i).rotationData(),
| ^~~~~~~~~~~~~~~~~~~
| SetParameterLowerBound
make[2]: *** [VINS-Mono/camera_model/CMakeFiles/camera_model.dir/build.make:90: VINS-Mono/camera_model/CMakeFiles/camera_model.dir/src/calib/CameraCalibration.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 10%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator.cpp.o
make[2]: *** [VINS-Mono/camera_model/CMakeFiles/Calibration.dir/build.make:104: VINS-Mono/camera_model/CMakeFiles/Calibration.dir/src/calib/CameraCalibration.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1744: VINS-Mono/camera_model/CMakeFiles/Calibration.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 12%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/factor/pose_local_parameterization.cpp.o
make[1]: *** [CMakeFiles/Makefile2:1770: VINS-Mono/camera_model/CMakeFiles/camera_model.dir/all] Error 2
[ 13%] Building CXX object VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/utility/utility.cpp.o
In file included from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/factor/pose_local_parameterization.cpp:1:
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/factor/pose_local_parameterization.h:7:49: error: invalid use of incomplete type ‘class ceres::LocalParameterization’
7 | class PoseLocalParameterization : public ceres::LocalParameterization
| ^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/factor/pose_local_parameterization.h:4,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/factor/pose_local_parameterization.cpp:1:
/usr/local/include/ceres/problem.h:56:7: note: forward declaration of ‘class ceres::LocalParameterization’
56 | class LocalParameterization;
| ^~~~~~~~~~~~~~~~~~~~~
make[2]: *** [VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/build.make:132: VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/factor/pose_local_parameterization.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.h:16,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:11:
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/factor/pose_local_parameterization.h:7:49: error: invalid use of incomplete type ‘class ceres::LocalParameterization’
7 | class PoseLocalParameterization : public ceres::LocalParameterization
| ^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/initial/initial_sfm.h:2,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.h:8,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator_node.cpp:11:
/usr/local/include/ceres/problem.h:56:7: note: forward declaration of ‘class ceres::LocalParameterization’
56 | class LocalParameterization;
| ^~~~~~~~~~~~~~~~~~~~~
In file included from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.h:16,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:1:
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/factor/pose_local_parameterization.h:7:49: error: invalid use of incomplete type ‘class ceres::LocalParameterization’
7 | class PoseLocalParameterization : public ceres::LocalParameterization
| ^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/initial/initial_sfm.h:2,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.h:8,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:1:
/usr/local/include/ceres/problem.h:56:7: note: forward declaration of ‘class ceres::LocalParameterization’
56 | class LocalParameterization;
| ^~~~~~~~~~~~~~~~~~~~~
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp: In member function ‘void Estimator::optimization()’:
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:678:94: error: cannot convert ‘PoseLocalParameterization*’ to ‘ceres::LocalParameterization*’ in initialization
678 | ceres::LocalParameterization local_parameterization = new PoseLocalParameterization();
| ^
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:679:82: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], SIZE_PARAMETERIZATION, ceres::LocalParameterization&)’
679 | problem.AddParameterBlock(para_Pose[i], SIZE_POSE, local_parameterization);
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/initial/initial_sfm.h:2,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.h:8,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:1:
/usr/local/include/ceres/problem.h:261:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
261 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:261:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:274:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
274 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:274:62: note: no known conversion for argument 3 from ‘ceres::LocalParameterization*’ to ‘ceres::Manifold*’
274 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:684:94: error: cannot convert ‘PoseLocalParameterization*’ to ‘ceres::LocalParameterization*’ in initialization
684 | ceres::LocalParameterization local_parameterization = new PoseLocalParameterization();
| ^
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:685:85: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], SIZE_PARAMETERIZATION, ceres::LocalParameterization&)’
685 | problem.AddParameterBlock(para_Ex_Pose[i], SIZE_POSE, local_parameterization);
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/initial/initial_sfm.h:2,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.h:8,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:1:
/usr/local/include/ceres/problem.h:261:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
261 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:261:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:274:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
274 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:274:62: note: no known conversion for argument 3 from ‘ceres::LocalParameterization*’ to ‘ceres::Manifold*’
274 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:772:94: error: cannot convert ‘PoseLocalParameterization*’ to ‘ceres::LocalParameterization*’ in initialization
772 | ceres::LocalParameterization local_parameterization = new PoseLocalParameterization();
| ^
/home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:773:79: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], SIZE_PARAMETERIZATION, ceres::LocalParameterization&)’
773 | problem.AddParameterBlock(relo_Pose, SIZE_POSE, local_parameterization);
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/initial/initial_sfm.h:2,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.h:8,
from /home/uzi/catkin_workspace/src/VINS-Mono/vins_estimator/src/estimator.cpp:1:
/usr/local/include/ceres/problem.h:261:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
261 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:261:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:274:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
274 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:274:62: note: no known conversion for argument 3 from ‘ceres::LocalParameterization*’ to ‘ceres::Manifold*’
274 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
make[2]: *** [VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/build.make:76: VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o] Error 1
make[2]: *** [VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/build.make:104: VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/src/estimator.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2004: VINS-Mono/vins_estimator/CMakeFiles/vins_estimator.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
Invoking "make -j4 -l4" failed
The text was updated successfully, but these errors were encountered: