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Livox-SDK / LIO-Livox

A Robust LiDAR-Inertial Odometry for Livox LiDAR
BSD 3-Clause "New" or "Revised" License
633 stars 162 forks source link

catkin_make error #36

Open fuggyme opened 2 years ago

fuggyme commented 2 years ago

/home/pei/catkin_ws/src/LIO-Livox/src/lio/PoseEstimation.cpp: In function ‘bool TryMAPInitialization()’: /home/pei/catkin_ws/src/LIO-Livox/src/lio/PoseEstimation.cpp:190:49: error: expected type-specifier ceres::LocalParameterization quatParam = new ceres::QuaternionParameterization(); ^~~~~ /home/pei/catkin_ws/src/LIO-Livox/src/lio/PoseEstimation.cpp:193:57: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [4], int, ceres::LocalParameterization&)’ problem_quat.AddParameterBlock(para_quat, 4, quatParam); ^ In file included from /usr/local/include/ceres/ceres.h:64:0, from /home/pei/catkin_ws/src/LIO-Livox/include/utils/ceresfunc.h:3, from /home/pei/catkin_ws/src/LIO-Livox/include/Estimator/Estimator.h:20, from /home/pei/catkin_ws/src/LIO-Livox/src/lio/PoseEstimation.cpp:1: /usr/local/include/ceres/problem.h:261:8: note: candidate: void ceres::Problem::AddParameterBlock(double, int) 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) void AddParameterBlock(double values, int size, Manifold manifold); ^~~~~ /usr/local/include/ceres/problem.h:274:8: note: no known conversion for argument 3 from ‘ceres::LocalParameterization’ to ‘ceres::Manifold’ [ 91%] Linking CXX executable /home/pei/catkin_ws/devel/lib/lio_livox/ScanRegistration [ 91%] Built target ScanRegistration LIO-Livox/CMakeFiles/PoseEstimation.dir/build.make:75: recipe for target 'LIO-Livox/CMakeFiles/PoseEstimation.dir/src/lio/PoseEstimation.cpp.o' failed make[2]: [LIO-Livox/CMakeFiles/PoseEstimation.dir/src/lio/PoseEstimation.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... CMakeFiles/Makefile2:3120: recipe for target 'LIO-Livox/CMakeFiles/PoseEstimation.dir/all' failed make[1]: [LIO-Livox/CMakeFiles/PoseEstimation.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j16 -l16" failed

Shidabot commented 1 year ago

We met same problem. Have you solved this problem yet

NHMMing commented 11 months ago

check ceres version

yueyihua commented 4 months ago

check ceres version

Which version should I use？