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MIT-SPARK / Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
BSD 2-Clause "Simplified" License
1.53k stars 416 forks source link

Getting some errors while building #189

Closed sudopsi4 closed 1 year ago

sudopsi4 commented 2 years ago

On running cmake .., I get the following. It does write build files successfully, but the gives 'Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake'.

-- ==============================================================
-- ====================  Dependencies ===========================
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: filesystem serialization regex timer date_time thread
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.2
-- Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for glog, will perform search for installed glog components.
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.65") found components: serialization system filesystem thread program_options date_time timer chrono regex
-- GTSAM include directory:  /usr/lib/cmake/GTSAM/../../../include
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.65") found components: serialization system filesystem thread program_options date_time timer chrono regex
-- GTSAM include directory:  /usr/lib/cmake/GTSAM/../../../include
-- GTSAM include directory:  /usr/lib/cmake/GTSAM/../../../include
CMake Warning at cmake/VerifyGtsamConfig.cmake:48 (message):
  Detected that the GTSAM version to be used is not configured to use
  on-manifold IMU preintegration.  You should build GTSAM with
  GTSAM_TANGENT_PREINTEGRATION=OFF.  You can do this when using catkin by
  cleaning gtsam and running 'catkin config -a --cmake-args
  -DGTSAM_TANGENT_PREINTEGRATION=OFF' and then rebuilding
Call Stack (most recent call first):
  CMakeLists.txt:51 (verify_gtsam_config)

CMake Warning at cmake/VerifyGtsamConfig.cmake:52 (message):
  You can disable warnings related to GTSAM by setting
  KIMERA_VERIFY_GTSAM_CONFIG=OFF in the future.
Call Stack (most recent call first):
  CMakeLists.txt:51 (verify_gtsam_config)

-- Vocabulary file exists, will not download.
-- Pangolin not found.
-- ===============================================================
-- ================  Configuration Options  ======================
-- CMAKE_CXX_COMPILER_ID type                : GNU
-- CMAKE_CXX_COMPILER_VERSION                : 9.4.0
-- Build flags
--   Build type                              : Release
--   C compilation flags (Release)           :  -O3 -DNDEBUG
--   C++ compilation flags (Release)         :  -O3 -DNDEBUG
-- Configuring done
-- Generating done
-- Build files have been written to: /home/abhishek/Downloads/Kimera-VIO

Then after running make -j$(nproc), I am getting a lot of errors.

[  2%] Built target gtest
[  4%] Building CXX object CMakeFiles/kimera_vio.dir/src/dataprovider/KittiDataProvider.cpp.o
[  4%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/StereoImuSyncPacket.cpp.o
[  4%] Building CXX object CMakeFiles/kimera_vio.dir/src/playground/EurocPlayground.cpp.o
[  5%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/StereoVisionImuFrontend.cpp.o
[  5%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/MonoVisionImuFrontend.cpp.o
[  6%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/MonoImuSyncPacket.cpp.o
[  7%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/VisionImuFrontend.cpp.o
[  9%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/Tracker.cpp.o
[  9%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/VisionImuFrontendModule.cpp.o
[ 10%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/rgbd/RgbdFrame.cpp.o
[ 11%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/rgbd/RgbdImuSyncPacket.cpp.o
[ 11%] Building CXX object CMakeFiles/kimera_vio.dir/src/frontend/optical-flow/OpticalFlowPredictor.cpp.o
[ 12%] Building CXX object CMakeFiles/kimera_vio.dir/src/backend/VioBackendModule.cpp.o
[ 14%] Building CXX object CMakeFiles/kimera_vio.dir/src/backend/VioBackend.cpp.o
[ 14%] Building CXX object CMakeFiles/kimera_vio.dir/src/backend/VioBackendParams.cpp.o
[ 14%] Building CXX object CMakeFiles/kimera_vio.dir/src/backend/RegularVioBackend.cpp.o
In file included from /home/abhishek/Downloads/Kimera-VIO/src/frontend/optical-flow/OpticalFlowPredictor.cpp:22:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/optical-flow/OpticalFlowVisualizer.h:19:10: fatal error:
 opencv/cv.h: No such file or directory
   19 | #include <opencv/cv.h>
      |          ^~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:453: CMakeFiles/kimera_vio.dir/src/frontend/optical-flow/OpticalFlowPredictor.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
/home/abhishek/Downloads/Kimera-VIO/src/backend/VioBackendParams.cpp: In static member function ‘static void VIO::BackendParams::setIsam2Params(const VIO::BackendParams&, gtsam::ISAM2Params*)’:
/home/abhishek/Downloads/Kimera-VIO/src/backend/VioBackendParams.cpp:46:15: error: ‘struct gtsam::ISAM2Params’ has no member named ‘setCacheLinearizedFactors’; did you mean ‘cacheLinearizedFactors’?
   46 |   isam_param->setCacheLinearizedFactors(true);
      |               ^~~~~~~~~~~~~~~~~~~~~~~~~
      |               cacheLinearizedFactors
/home/abhishek/Downloads/Kimera-VIO/src/backend/VioBackendParams.cpp:51:15: error: ‘struct gtsam::ISAM2Params’ has no member named ‘setEvaluateNonlinearError’; did you mean ‘evaluateNonlinearError’?
   51 |   isam_param->setEvaluateNonlinearError(false);  // only for debugging
      |               ^~~~~~~~~~~~~~~~~~~~~~~~~
      |               evaluateNonlinearError
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/utils/UtilsOpenCV.h:34,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/CameraParams.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/Frame.h:36,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/rgbd/RgbdFrame.h:17,
                 from /home/abhishek/Downloads/Kimera-VIO/src/frontend/rgbd/RgbdFrame.cpp:15:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:505: CMakeFiles/kimera_vio.dir/src/backend/RegularVioBackend.cpp.o] Error 1
make[2]: *** Deleting file 'CMakeFiles/kimera_vio.dir/src/backend/RegularVioBackend.cpp.o'
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:167: CMakeFiles/kimera_vio.dir/src/playground/EurocPlayground.cpp.o] Error 1
make[2]: *** Deleting file 'CMakeFiles/kimera_vio.dir/src/playground/EurocPlayground.cpp.o'
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:479: CMakeFiles/kimera_vio.dir/src/backend/VioBackend.cpp.o] Error 1
make[2]: *** Deleting file 'CMakeFiles/kimera_vio.dir/src/backend/VioBackend.cpp.o'
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:466: CMakeFiles/kimera_vio.dir/src/backend/VioBackendModule.cpp.o] Error 1
make[2]: *** Deleting file 'CMakeFiles/kimera_vio.dir/src/backend/VioBackendModule.cpp.o'
In file included from /home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp:8:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/Tracker.h: In constructor ‘VIO::Tracker::Tracker(const VIO::FrontendParams&, const ConstPtr&, VIO::DisplayQueue*)’:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/Tracker.h:155:14: warning: ‘VIO::Tracker::landmark_count_’ will be initialized after [-Wreorder]
  155 |   LandmarkId landmark_count_;
      |              ^~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/Tracker.h:61:24: warning:   ‘const VIO::FrontendParams VIO::Tracker::tracker_params_’ [-Wreorder]
   61 |   const FrontendParams tracker_params_;
      |                        ^~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp:37:1: warning:   when initialized here [-Wreorder]
   37 | Tracker::Tracker(const FrontendParams& tracker_params,
      | ^~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘void VIO::Tracker::featureTracking(VIO::Frame*, VIO::Frame*, const gtsam::Rot3&, boost::optional<cv::Mat>)’:
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp:155:31: warning: comparison of integer expressions of different signedness: ‘const size_t’ {aka ‘const long unsigned int’} and ‘const int’ [-Wsign-compare]
  155 |     if (!status[i] || lmk_age > tracker_params_.maxFeatureAge_) {
      |                       ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/MonoVisionImuFrontend.cpp: In member function ‘VIO::MonoFrontendOutput::UniquePtr VIO::MonoVisionImuFrontend::nominalSpinMono(VIO::MonoImuSyncPacket::UniquePtr&&)’:
/home/abhishek/Downloads/Kimera-VIO/src/frontend/MonoVisionImuFrontend.cpp:96:8: warning: variable ‘tic_full_preint’ set but not used [-Wunused-but-set-variable]
   96 |   auto tic_full_preint = utils::Timer::tic();
      |        ^~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<VIO::TrackingStatus, gtsam::Pose3> VIO::Tracker::geometricOutlierRejectionMono(VIO::Frame*, VIO::Frame*)’:
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp:245:36: warning: comparison of integer expressions of different signedness: ‘std::vector<int>::size_type’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare]
  245 |   if (mono_ransac_.inliers_.size() < tracker_params_.minNrMonoInliers_) {
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<VIO::TrackingStatus, gtsam::Pose3> VIO::Tracker::geometricOutlierRejectionMonoGivenRotation(VIO::Frame*, VIO::Frame*, const gtsam::Rot3&)’:
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp:338:46: warning: comparison of integer expressions of different signedness: ‘std::vector<int>::size_type’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare]
  338 |   if (mono_ransac_given_rot_.inliers_.size() <
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  339 |       tracker_params_.minNrMonoInliers_) {
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<std::pair<VIO::TrackingStatus, gtsam::Pose3>, Eigen::Matrix<double, 3, 3> > VIO::Tracker::geometricOutlierRejectionStereoGivenRotation(VIO::StereoFrame&, VIO::StereoFrame&, VIO::StereoCamera::ConstPtr, const gtsam::Rot3&)’:
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp:600:22: warning: comparison of integer expressions of different signedness: ‘std::vector<int>::size_type’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare]
  600 |   if (inliers.size() < tracker_params_.minNrStereoInliers_) {
      |       ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/VioNavState.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/backend/VioBackendParams.h:31,
                 from /home/abhishek/Downloads/Kimera-VIO/src/backend/VioBackendParams.cpp:15:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h: At global scope:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:492: CMakeFiles/kimera_vio.dir/src/backend/VioBackendParams.cpp.o] Error 1
/home/abhishek/Downloads/Kimera-VIO/src/dataprovider/KittiDataProvider.cpp: In member function ‘VIO::KittiDataProvider::KittiData::operator bool() const’:
/home/abhishek/Downloads/Kimera-VIO/src/dataprovider/KittiDataProvider.cpp:29:26: warning: suggest parentheses around comparison in operand of ‘==’ [-Wparentheses]
   29 |       timestamps_.size() == left_img_names_.size() == right_img_names_.size();
      |       ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp: In member function ‘std::pair<VIO::TrackingStatus, gtsam::Pose3> VIO::Tracker::geometricOutlierRejectionStereo(VIO::StereoFrame&, VIO::StereoFrame&)’:
/home/abhishek/Downloads/Kimera-VIO/src/frontend/Tracker.cpp:698:38: warning: comparison of integer expressions of different signedness: ‘std::vector<int>::size_type’ {aka ‘long unsigned int’} and ‘const int’ [-Wsign-compare]
  698 |   if (stereo_ransac_.inliers_.size() < tracker_params_.minNrStereoInliers_) {
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/abhishek/Downloads/Kimera-VIO/src/frontend/StereoVisionImuFrontend.cpp:16:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/StereoVisionImuFrontend.h: In constructor ‘VIO::StereoVisionImuFrontend::StereoVisionImuFrontend(const VIO::ImuParams&, const ImuBias&, const VIO::FrontendParams&, const ConstPtr&, VIO::DisplayQueue*, bool)’:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/StereoVisionImuFrontend.h:197:18: warning: ‘VIO::StereoVisionImuFrontend::frontend_params_’ will be initialized after [-Wreorder]
  197 |   FrontendParams frontend_params_;
      |                  ^~~~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/StereoVisionImuFrontend.h:184:26: warning:   ‘VIO::StereoCamera::ConstPtr VIO::StereoVisionImuFrontend::stereo_camera_’ [-Wreorder]
  184 |   StereoCamera::ConstPtr stereo_camera_;
      |                          ^~~~~~~~~~~~~~
/home/abhishek/Downloads/Kimera-VIO/src/frontend/StereoVisionImuFrontend.cpp:31:1: warning:   when initialized here [-Wreorder]
   31 | StereoVisionImuFrontend::StereoVisionImuFrontend(
      | ^~~~~~~~~~~~~~~~~~~~~~~
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:336: CMakeFiles/kimera_vio.dir/src/frontend/VisionImuFrontendModule.cpp.o] Error 1
make[2]: *** Deleting file 'CMakeFiles/kimera_vio.dir/src/frontend/VisionImuFrontendModule.cpp.o'
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:323: CMakeFiles/kimera_vio.dir/src/frontend/VisionImuFrontend.cpp.o] Error 1
make[2]: *** Deleting file 'CMakeFiles/kimera_vio.dir/src/frontend/VisionImuFrontend.cpp.o'
c++: fatal error: Killed signal terminated program cc1plus
compilation terminated.
make[2]: *** [CMakeFiles/kimera_vio.dir/build.make:362: CMakeFiles/kimera_vio.dir/src/frontend/Tracker.cpp.o] Error 1
make[2]: *** Deleting file 'CMakeFiles/kimera_vio.dir/src/frontend/Tracker.cpp.o'
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/utils/UtilsOpenCV.h:34,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/CameraParams.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/Camera.h:25,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/dataprovider/DataProviderInterface.h:20,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/dataprovider/KittiDataProvider.h:21,
                 from /home/abhishek/Downloads/Kimera-VIO/src/dataprovider/KittiDataProvider.cpp:15:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h: At global scope:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/VioNavState.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/backend/VioBackend-definitions.h:28,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/FrontendInputPacketBase.h:17,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/StereoImuSyncPacket.h:22,
                 from /home/abhishek/Downloads/Kimera-VIO/src/frontend/StereoImuSyncPacket.cpp:17:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/VioNavState.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/backend/VioBackend-definitions.h:28,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/FrontendInputPacketBase.h:17,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/MonoImuSyncPacket.h:19,
                 from /home/abhishek/Downloads/Kimera-VIO/src/frontend/MonoImuSyncPacket.cpp:17:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/utils/UtilsOpenCV.h:34,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/CameraParams.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/Camera.h:25,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/MonoVisionImuFrontend-definitions.h:19,
                 from /home/abhishek/Downloads/Kimera-VIO/src/frontend/MonoVisionImuFrontend.cpp:17:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h: At global scope:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/VioNavState.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/backend/VioBackend-definitions.h:28,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/FrontendInputPacketBase.h:17,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/VisionImuFrontend.h:22,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/StereoVisionImuFrontend.h:28,
                 from /home/abhishek/Downloads/Kimera-VIO/src/frontend/StereoVisionImuFrontend.cpp:16:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h: At global scope:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/VioNavState.h:27,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/backend/VioBackend-definitions.h:28,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/FrontendInputPacketBase.h:17,
                 from /home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/frontend/rgbd/RgbdImuSyncPacket.h:11,
                 from /home/abhishek/Downloads/Kimera-VIO/src/frontend/rgbd/RgbdImuSyncPacket.cpp:9:
/home/abhishek/Downloads/Kimera-VIO/include/kimera-vio/common/vio_types.h:70:13: warning: ‘void VIO::getValidKeypointsFromStatusKeypointsCV(const StatusKeypointsCV&, VIO::KeypointsCV*)’ defined but not used [-Wunused-function]
   70 | static void getValidKeypointsFromStatusKeypointsCV(
      |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[1]: *** [CMakeFiles/Makefile2:1495: CMakeFiles/kimera_vio.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

To inform, I am using wsl2 ubuntu for this.

pakshi10 commented 2 years ago

I am getting the same error.

MadlyFX commented 2 years ago

Same here. Ubuntu 20.04

MikeDRK commented 2 years ago

The problem is the version of GTSAM. So, 

# go to gtsam file
git checkout 4.1.1

then build and install again, everything should be fine.

jaku-jaku commented 1 year ago

Latest gtsam requires Pangolin from Cmakelist response. You can build Pangolin from source, but Pangolin has some minor issue, fixed in https://github.com/stevenlovegrove/Pangolin/pull/792

marcusabate commented 1 year ago

I am able to run 20.04 (native) using gtsam commit e5866799dff48239573cdd84964180867e50edd2. Latest gtsam requires modifications to the source code, but an update to Kimera-VIO soon will bring those in. Refer to #194 for more info if you want to use a more recent gtsam.