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HKUST-Aerial-Robotics / A-LOAM

Advanced implementation of LOAM
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compile error #10

Open mutou-2015 opened 5 years ago

mutou-2015 commented 5 years ago

hi,when I compile A-LOAM package,I meet some errors as fellow,

/usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::Solve(cs_di_symbolic*, cs_di_numeric*, double*)': cxsparse.cc:(.text+0x92): undefined reference tocs_di_ipvec' cxsparse.cc:(.text+0xa6): undefined reference to cs_di_lsolve' cxsparse.cc:(.text+0xba): undefined reference tocs_di_ltsolve' cxsparse.cc:(.text+0xd3): undefined reference to cs_di_pvec' cxsparse.cc:(.text+0x108): undefined reference tocs_di_free' cxsparse.cc:(.text+0x114): undefined reference to cs_di_malloc' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::SolveCholesky(cs_di_sparse, double)': cxsparse.cc:(.text+0x31a): undefined reference to cs_di_cholsol' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::BlockAnalyzeCholesky(cs_di_sparse, std::vector<int, std::allocator > const&, std::vector<int, std::allocator > const&)': cxsparse.cc:(.text+0x438): undefined reference to cs_di_amd' cxsparse.cc:(.text+0x4ba): undefined reference tocs_di_free' cxsparse.cc:(.text+0x4f6): undefined reference to cs_di_calloc' cxsparse.cc:(.text+0x506): undefined reference tocs_di_pinv' cxsparse.cc:(.text+0x516): undefined reference to cs_di_symperm' cxsparse.cc:(.text+0x523): undefined reference tocs_di_etree' cxsparse.cc:(.text+0x532): undefined reference to cs_di_post' cxsparse.cc:(.text+0x546): undefined reference tocs_di_counts' cxsparse.cc:(.text+0x551): undefined reference to cs_di_free' cxsparse.cc:(.text+0x559): undefined reference tocs_di_spfree' cxsparse.cc:(.text+0x569): undefined reference to cs_di_malloc' cxsparse.cc:(.text+0x57b): undefined reference tocs_di_cumsum' cxsparse.cc:(.text+0x58d): undefined reference to cs_di_free' cxsparse.cc:(.text+0x60c): undefined reference tocs_di_sfree' /usr/local/lib/libceres.a(cxsparse.cc.o): In function `ceres::internal::CXSparse::CreateSparseMatrix(ceres::internal::TripletSparseMatrix)': cxsparse.cc:(.text+0x802): undefined reference to cs_di_compress' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::ApproximateMinimumDegreeOrdering(cs_di_sparse, int)': cxsparse.cc:(.text+0x890): undefined reference to cs_di_amd' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::~CXSparse()': cxsparse.cc:(.text+0x2b): undefined reference to cs_di_free' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::Cholesky(cs_di_sparse, cs_di_symbolic)': cxsparse.cc:(.text+0x47): undefined reference to cs_di_chol' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::AnalyzeCholesky(cs_di_sparse)': cxsparse.cc:(.text+0x336): undefined reference to cs_di_schol' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::AnalyzeCholeskyWithNaturalOrdering(cs_di_sparse)': cxsparse.cc:(.text+0x343): undefined reference to cs_di_schol' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::ApproximateMinimumDegreeOrdering(cs_di_sparse, int)': cxsparse.cc:(.text+0x8b7): undefined reference to cs_di_free' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::TransposeMatrix(cs_di_sparse)': cxsparse.cc:(.text+0x8c9): undefined reference to cs_di_transpose' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::MatrixMatrixMultiply(cs_di_sparse, cs_di_sparse)': cxsparse.cc:(.text+0x8d7): undefined reference to cs_di_multiply' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::Free(cs_di_sparse)': cxsparse.cc:(.text+0x8e4): undefined reference to cs_di_spfree' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::Free(cs_di_symbolic)': cxsparse.cc:(.text+0x8f4): undefined reference to cs_di_sfree' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::Free(cs_di_numeric)': cxsparse.cc:(.text+0x904): undefined reference to cs_di_nfree' collect2: error: ld returned 1 exit status A-LOAM/CMakeFiles/alaserOdometry.dir/build.make:437: recipe for target '/home/nari/catkin_ws/devel/lib/aloam_velodyne/alaserOdometry' failed make[2]: *** [/home/nari/catkin_ws/devel/lib/aloam_velodyne/alaserOdometry] Error 1 CMakeFiles/Makefile2:2458: recipe for target 'A-LOAM/CMakeFiles/alaserOdometry.dir/all' failed make[1]: *** [A-LOAM/CMakeFiles/alaserOdometry.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::Solve(cs_di_symbolic, cs_di_numeric, double)': cxsparse.cc:(.text+0x92): undefined reference to cs_di_ipvec' cxsparse.cc:(.text+0xa6): undefined reference tocs_di_lsolve' cxsparse.cc:(.text+0xba): undefined reference to cs_di_ltsolve' cxsparse.cc:(.text+0xd3): undefined reference tocs_di_pvec' cxsparse.cc:(.text+0x108): undefined reference to cs_di_free' cxsparse.cc:(.text+0x114): undefined reference tocs_di_malloc' /usr/local/lib/libceres.a(cxsparse.cc.o): In function `ceres::internal::CXSparse::SolveCholesky(cs_di_sparse, double)': cxsparse.cc:(.text+0x31a): undefined reference to cs_di_cholsol' /usr/local/lib/libceres.a(cxsparse.cc.o): In functionceres::internal::CXSparse::BlockAnalyzeCholesky(cs_di_sparse, std::vector<int, std::allocator > const&, std::vector<int, std::allocator > const&)': cxsparse.cc:(.text+0x438): undefined reference to cs_di_amd' cxsparse.cc:(.text+0x4ba): undefined reference tocs_di_free' cxsparse.cc:(.text+0x4f6): undefined reference to cs_di_calloc' cxsparse.cc:(.text+0x506): undefined reference tocs_di_pinv' cxsparse.cc:(.text+0x516): undefined reference to cs_di_symperm' cxsparse.cc:(.text+0x523): undefined reference tocs_di_etree' cxsparse.cc:(.text+0x532): undefined reference to cs_di_post' cxsparse.cc:(.text+0x546): undefined reference tocs_di_counts' cxsparse.cc:(.text+0x551): undefined reference to cs_di_free' cxsparse.cc:(.text+0x559): undefined reference tocs_di_spfree' cxsparse.cc:(.text+0x569): undefined reference to cs_di_malloc' cxsparse.cc:(.text+0x57b): undefined reference tocs_di_cumsum' cxsparse.cc:(.text+0x58d): undefined reference to cs_di_free' cxsparse.cc:(.text+0x60c): undefined reference tocs_di_sfree' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::CreateSparseMatrix(ceres::internal::TripletSparseMatrix*)': cxsparse.cc:(.text+0x802): undefined reference tocs_di_compress' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::ApproximateMinimumDegreeOrdering(cs_di_sparse*, int*)': cxsparse.cc:(.text+0x890): undefined reference tocs_di_amd' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::~CXSparse()': cxsparse.cc:(.text+0x2b): undefined reference tocs_di_free' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::Cholesky(cs_di_sparse*, cs_di_symbolic*)': cxsparse.cc:(.text+0x47): undefined reference tocs_di_chol' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::AnalyzeCholesky(cs_di_sparse*)': cxsparse.cc:(.text+0x336): undefined reference tocs_di_schol' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::AnalyzeCholeskyWithNaturalOrdering(cs_di_sparse*)': cxsparse.cc:(.text+0x343): undefined reference tocs_di_schol' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::ApproximateMinimumDegreeOrdering(cs_di_sparse*, int*)': cxsparse.cc:(.text+0x8b7): undefined reference tocs_di_free' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::TransposeMatrix(cs_di_sparse*)': cxsparse.cc:(.text+0x8c9): undefined reference tocs_di_transpose' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::MatrixMatrixMultiply(cs_di_sparse*, cs_di_sparse*)': cxsparse.cc:(.text+0x8d7): undefined reference tocs_di_multiply' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::Free(cs_di_sparse*)': cxsparse.cc:(.text+0x8e4): undefined reference tocs_di_spfree' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::Free(cs_di_symbolic*)': cxsparse.cc:(.text+0x8f4): undefined reference tocs_di_sfree' /usr/local/lib/libceres.a(cxsparse.cc.o): In function ceres::internal::CXSparse::Free(cs_di_numeric*)': cxsparse.cc:(.text+0x904): undefined reference tocs_di_nfree' collect2: error: ld returned 1 exit status A-LOAM/CMakeFiles/alaserMapping.dir/build.make:437: recipe for target '/home/nari/catkin_ws/devel/lib/aloam_velodyne/alaserMapping' failed make[2]: [/home/nari/catkin_ws/devel/lib/aloam_velodyne/alaserMapping] Error 1 CMakeFiles/Makefile2:1963: recipe for target 'A-LOAM/CMakeFiles/alaserMapping.dir/all' failed make[1]: [A-LOAM/CMakeFiles/alaserMapping.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2

Can you give me some advices how to resolve these problems?Thank you!

shinmohuang commented 2 years ago

I've got the same problem with you. Have you sloved? thx

Kin-Zhang commented 2 years ago

maybe using the ceres 1.14 will help that.

cd / && git clone --depth 1 --branch 1.14.0 https://ceres-solver.googlesource.com/ceres-solver \
    && cd ceres-solver && mkdir build && cd build && cmake .. \
    && make -j$(nproc) \
    && make -j$(nproc) all install \
    && cd / \
    && rm -rf /ceres-solver