Open GSORF opened 3 years ago
GSORF
commented
3 years ago Ok, I have tested it with Ceres version 1.12.0 and it compiles.
I have proposed a minor modification of the README to make this more explicit to the users, see #12 .
Now I have to cope with OpenCV issues, which is probably related to a version difference again. But I think this will be another easy fix.
//EDIT: I have added OpenCV4 support in this PR #13.
Kind regards.
shaozu
commented
3 years ago Hi, @GSORF. Thanks for your efforts on this issue. I will leave this issue open in case someone has the same problem.
I just want to add that another solution to this problem is to build and test the whole project using docker, as shown here. By so the GVINS environment is totally isolated from your local one and everything should go smoothly.
Kranthi18reddy
commented
2 years ago Hello everyone,
I am getting compiler errors when Ceres functions are getting called. I suppose this is due to a version conflict. The README states that version 1.12.0 is used. However, the official instructions on http://ceres-solver.org/installation.html will install version 2.0.0. Is this the cause of my issue? In that case I would like to contribute by updating the README with clear instructions on how to install this specific version of Ceres.
Here is my terminal output which documents the compilation error:
[...] Scanning dependencies of target gvins [ 44%] Building CXX object GVINS/estimator/CMakeFiles/gvins.dir/src/estimator_node.cpp.o In file included from /usr/local/include/ceres/internal/parameter_dims.h:37, from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’ 64 | struct SumImpl<std::integer_sequence<T, N, Ns...>> { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:46: error: wrong number of template arguments (3, should be 1) 64 | struct SumImpl<std::integer_sequence<T, N, Ns...>> { | ^~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:64:49: error: expected unqualified-id before ‘>’ token 64 | struct SumImpl<std::integer_sequence<T, N, Ns...>> { | ^~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:21: error: ‘integer_sequence’ is not a member of ‘std’ 71 | struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:51: error: wrong number of template arguments (4, should be 1) 71 | struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> { | ^~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:71:54: error: expected unqualified-id before ‘>’ token 71 | struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> { | ^~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:21: error: ‘integer_sequence’ is not a member of ‘std’ 78 | struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:59: error: wrong number of template arguments (6, should be 1) 78 | struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> { | ^~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:78:62: error: expected unqualified-id before ‘>’ token 78 | struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> { | ^~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:21: error: ‘integer_sequence’ is not a member of ‘std’ 85 | struct SumImpl<std::integer_sequence<T, N>> { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:41: error: wrong number of template arguments (2, should be 1) 85 | struct SumImpl<std::integer_sequence<T, N>> { | ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:42: error: expected unqualified-id before ‘>’ token 85 | struct SumImpl<std::integer_sequence<T, N>> { | ^~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:21: error: ‘integer_sequence’ is not a member of ‘std’ 91 | struct SumImpl<std::integer_sequence<T>> { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:38: error: template argument 1 is invalid 91 | struct SumImpl<std::integer_sequence<T>> { | ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:39: error: expected unqualified-id before ‘>’ token 91 | struct SumImpl<std::integer_sequence<T>> { | ^~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:31: error: ‘integer_sequence’ is not a member of ‘std’ 135 | std::integer_sequence<T, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:31: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: error: template argument 3 is invalid 135 | std::integer_sequence<T, N, Ns...>, | ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: error: type/value mismatch at argument 4 in template parameter list for ‘template<class T, T Sum, class SeqIn, class SeqOut> struct ceres::internal::ExclusiveScanImpl’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: note: expected a type, got ‘N’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:146:39: error: ‘integer_sequence’ is not a member of ‘std’ 146 | struct ExclusiveScanImpl<T, Sum, std::integer_sequence<T>, SeqOut> { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:146:39: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:146:57: error: wrong number of template arguments (3, should be 4) 146 | struct ExclusiveScanImpl<T, Sum, std::integer_sequence<T>, SeqOut> { | ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:130:8: note: provided for ‘template<class T, T Sum, class SeqIn, class SeqOut> struct ceres::internal::ExclusiveScanImpl’ 130 | struct ExclusiveScanImpl; | ^~~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:160:53: error: ‘integer_sequence’ is not a member of ‘std’ 160 | typename ExclusiveScanImpl<T, T(0), Seq, std::integer_sequence<T>>::Type; | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:160:53: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:160:70: error: template argument 4 is invalid 160 | typename ExclusiveScanImpl<T, T(0), Seq, std::integer_sequence<T>>::Type; | ^ /usr/local/include/ceres/internal/integer_sequence_algorithm.h:160:16: error: expected nested-name-specifier 160 | typename ExclusiveScanImpl<T, T(0), Seq, std::integer_sequence<T>>::Type; | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h:44:55: error: ‘integer_sequence’ is not a member of ‘std’ 44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:44:72: error: expected primary-expression before ‘int’ 44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) { | ^~~ /usr/local/include/ceres/internal/parameter_dims.h:50:10: error: ‘template<int N, int ...Ts> constexpr const bool ceres::internal::IsValidParameterDimensionSequence’ redeclared as different kind of entity 50 | std::integer_sequence<int, N, Ts...>) { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:44:16: note: previous declaration ‘constexpr const bool ceres::internal::IsValidParameterDimensionSequence’ 44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) { | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:50:10: error: ‘integer_sequence’ is not a member of ‘std’ 50 | std::integer_sequence<int, N, Ts...>) { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:50:27: error: expected primary-expression before ‘int’ 50 | std::integer_sequence<int, N, Ts...>) { | ^~~ /usr/local/include/ceres/internal/parameter_dims.h:50:40: error: expected ‘)’ before ‘>’ token 50 | std::integer_sequence<int, N, Ts...>) { | ^ | ) /usr/local/include/ceres/internal/parameter_dims.h:49:49: note: to match this ‘(’ 49 | constexpr bool IsValidParameterDimensionSequence( | ^ /usr/local/include/ceres/internal/parameter_dims.h:69:27: error: ‘integer_sequence’ in namespace ‘std’ does not name a template type 69 | using Parameters = std::integer_sequence<int, Ns...>; | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:74:41: error: there are no arguments to ‘Parameters’ that depend on a template parameter, so a declaration of ‘Parameters’ must be available [-fpermissive] 74 | IsValidParameterDimensionSequence(Parameters()); | ^~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:74:41: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/local/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’ 85 | Sum<std::integer_sequence<int, Ns...>>::Value; | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/parameter_dims.h:85:43: error: template argument 1 is invalid 85 | Sum<std::integer_sequence<int, Ns...>>::Value; | ^~ /usr/local/include/ceres/internal/parameter_dims.h:101:20: error: ‘std::integer_sequence’ has not been declared 101 | T* ptr, std::integer_sequence<int, Indices...>) { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h:101:36: error: expected ‘,’ or ‘...’ before ‘<’ token 101 | T* ptr, std::integer_sequence<int, Indices...>) { | ^ /usr/local/include/ceres/internal/parameter_dims.h: In static member function ‘static std::array<T*, ceres::internal::ParameterDims<IsDynamic, Ns>::kNumParameterBlocks> ceres::internal::ParameterDims<IsDynamic, Ns>::GetUnpackedParameters(T*)’: /usr/local/include/ceres/internal/parameter_dims.h:94:35: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 94 | using Offsets = ExclusiveScan<Parameters>; | ^~~~~~~~~~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:94:45: error: template argument 1 is invalid 94 | using Offsets = ExclusiveScan<Parameters>; | ^ /usr/local/include/ceres/internal/parameter_dims.h:95:39: error: there are no arguments to ‘Offsets’ that depend on a template parameter, so a declaration of ‘Offsets’ must be available [-fpermissive] 95 | return GetUnpackedParameters(ptr, Offsets()); | ^~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:152, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/variadic_evaluate.h: At global scope: /usr/local/include/ceres/internal/variadic_evaluate.h:53:39: error: ‘std::integer_sequence’ has not been declared 53 | std::integer_sequence<int, Indices...>) { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/variadic_evaluate.h:53:55: error: expected ‘,’ or ‘...’ before ‘<’ token 53 | std::integer_sequence<int, Indices...>) { | ^ /usr/local/include/ceres/internal/variadic_evaluate.h:66:39: error: ‘std::integer_sequence’ has not been declared 66 | std::integer_sequence<int>) { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/variadic_evaluate.h:66:55: error: expected ‘,’ or ‘...’ before ‘<’ token 66 | std::integer_sequence<int>) { | ^ /usr/local/include/ceres/internal/variadic_evaluate.h: In function ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*)’: /usr/local/include/ceres/internal/variadic_evaluate.h:77:12: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type 77 | std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>; | ^~~~~~~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/variadic_evaluate.h:80:44: error: there are no arguments to ‘ParameterBlockIndices’ that depend on a template parameter, so a declaration of ‘ParameterBlockIndices’ must be available [-fpermissive] 80 | functor, input, output, IsDynamic(), ParameterBlockIndices()); | ^~~~~~~~~~~~~~~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/autodiff.h: At global scope: /usr/local/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’ 217 | struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/autodiff.h:217:69: error: template argument 1 is invalid 217 | struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>, | ^ /usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’ 232 | struct Make1stOrderPerturbations<std::integer_sequence<int>, | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/autodiff.h:232:59: error: template argument 1 is invalid 232 | struct Make1stOrderPerturbations<std::integer_sequence<int>, | ^ /usr/local/include/ceres/internal/autodiff.h:282:31: error: ‘integer_sequence’ is not a member of ‘std’ 282 | struct Take1stOrderParts<std::integer_sequence<int, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/autodiff.h:282:31: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/autodiff.h:282:61: error: template argument 1 is invalid 282 | struct Take1stOrderParts<std::integer_sequence<int, N, Ns...>, | ^ /usr/local/include/ceres/internal/autodiff.h:298:31: error: ‘integer_sequence’ is not a member of ‘std’ 298 | struct Take1stOrderParts<std::integer_sequence<int>, ParameterIdx, Offset> { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/autodiff.h:298:31: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/autodiff.h:298:51: error: template argument 1 is invalid 298 | struct Take1stOrderParts<std::integer_sequence<int>, ParameterIdx, Offset> { | ^ In file included from /usr/local/include/ceres/ceres.h:42, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/cost_function_to_functor.h:161:29: error: ‘std::integer_sequence’ has not been declared 161 | std::integer_sequence<int, Indices...>) { | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/cost_function_to_functor.h:161:45: error: expected ‘,’ or ‘...’ before ‘<’ token 161 | std::integer_sequence<int, Indices...>) { | ^ /usr/local/include/ceres/cost_function_to_functor.h: In member function ‘bool ceres::CostFunctionToFunctor<kNumResiduals, Ns>::operator()(const T*, Ts* ...) const’: /usr/local/include/ceres/cost_function_to_functor.h:148:14: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type 148 | std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>; | ^~~~~~~~~~~~~~~~~~~~~ /usr/local/include/ceres/cost_function_to_functor.h:150:41: error: there are no arguments to ‘Indices’ that depend on a template parameter, so a declaration of ‘Indices’ must be available [-fpermissive] 150 | GetParameterPointers<T>(params, Indices()); | ^~~~~~~ In file included from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:44, from /usr/local/include/ceres/ceres.h:48, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/numeric_diff.h: At global scope: /usr/local/include/ceres/internal/numeric_diff.h:445:48: error: ‘integer_sequence’ is not a member of ‘std’ 445 | std::integer_sequence<int, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/numeric_diff.h:445:48: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/numeric_diff.h:445:78: error: template argument 2 is invalid 445 | std::integer_sequence<int, N, Ns...>, | ^ /usr/local/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’ 490 | std::integer_sequence<int>, | ^~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’ /usr/local/include/ceres/internal/numeric_diff.h:490:68: error: template argument 2 is invalid 490 | std::integer_sequence<int>, | ^ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 4, 3, 3>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 4, 3, 3>’ /usr/local/include/ceres/autodiff_cost_function.h:154:7: required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’ /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 4, 3, 3>’ /usr/local/include/ceres/autodiff_cost_function.h:154:7: required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’ /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 4, 3, 3>’: /usr/local/include/ceres/autodiff_cost_function.h:154:7: required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’ /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 9, 7, 9>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’ /home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’ /home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’: /home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 7, 1>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1, 1, 1, 1>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 1, 1, 1, 1>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1, 1, 1, 1>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 1>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1, 1>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 1, 1>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<1, 1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1, 1>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<1, 1, 1>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1, 1>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 9, 9>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 7, 7, 9, 9>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 9, 9>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:151, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7>::kIsValid’: /usr/local/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 7>’ /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<6, 7>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40: required from here /usr/local/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7>’: /usr/local/include/ceres/sized_cost_function.h:49:47: required from ‘class ceres::SizedCostFunction<6, 7>’ /home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40: required from here /usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:131, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<6, 7>’: /home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40: required from here /usr/local/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 2; ParameterDims = ceres::internal::ParameterDims<false, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’: /usr/local/include/ceres/autodiff_cost_function.h:210:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = ReprojectionError3D; int kNumResiduals = 2; int ...Ns = {4, 3, 3}]’ /usr/local/include/ceres/autodiff_cost_function.h:200:8: required from here /usr/local/include/ceres/internal/autodiff.h:315:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’ 315 | using Parameters = typename ParameterDims::Parameters; | ^~~~~~~~~~ /usr/local/include/ceres/internal/autodiff.h:348:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’ 348 | Make1stOrderPerturbations<Parameters>::Apply(parameters, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ 349 | parameters_as_jets.data()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/local/include/ceres/internal/autodiff.h:357:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’ 357 | Take1stOrderParts<Parameters>::Apply( | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^ 358 | num_outputs, residuals_as_jets.data(), jacobians); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/local/include/ceres/internal/autodiff.h:152, from /usr/local/include/ceres/autodiff_cost_function.h:130, from /usr/local/include/ceres/ceres.h:37, from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9, from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15: /usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’: /usr/local/include/ceres/internal/variadic_evaluate.h:108:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’ /usr/local/include/ceres/autodiff_cost_function.h:207:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = ReprojectionError3D; int kNumResiduals = 2; int ...Ns = {4, 3, 3}]’ /usr/local/include/ceres/autodiff_cost_function.h:200:8: required from here /usr/local/include/ceres/internal/variadic_evaluate.h:80:65: error: ‘ParameterBlockIndices’ was not declared in this scope 80 | functor, input, output, IsDynamic(), ParameterBlockIndices()); | ~~~~~~~~~~~~~~~~~~~~~^~ make[2]: *** [GVINS/estimator/CMakeFiles/gvins.dir/build.make:63: GVINS/estimator/CMakeFiles/gvins.dir/src/estimator_node.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:3720: GVINS/estimator/CMakeFiles/gvins.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 Invoking "make -j1 -l1" failedThank you for your time
Using CXX flags as "std=c++14" will compile Ceres 2.0.0
Hello everyone,
I am getting compiler errors when Ceres functions are getting called. I suppose this is due to a version conflict. The README states that version 1.12.0 is used. However, the official instructions on http://ceres-solver.org/installation.html will install version 2.0.0. Is this the cause of my issue? In that case I would like to contribute by updating the README with clear instructions on how to install this specific version of Ceres.
Here is my terminal output which documents the compilation error:
Thank you for your time