TouchDeeper
commented
2 years ago 我添加了一些依赖项的说明在README.
你的问题应该是Sophus版本不对导致的.
Closed liuxin-SH closed 2 years ago
TouchDeeper
commented
2 years ago 我添加了一些依赖项的说明在README.
你的问题应该是Sophus版本不对导致的.
您好,在编译您的代码是出现了下面的编译问题是什么原因?In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13:0, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:62:17: error: expected nested-name-specifier before ‘SE3’ inline typename SE3::Tangent se3_logd(const SE3 &se3) {
^~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:62:20: error: expected initializer before ‘<’ token
inline typename SE3::Tangent se3_logd(const SE3 &se3) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:82:8: error: ‘Sophus::SE3 {aka Sophus::SE3Group}’ is not a template
inline SE3 se3_expd(
^~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:83:52: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations]
const Eigen::MatrixBase &upsilon_omega) {
^
In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:42:0,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10:
/opt/ros/kinetic/include/sophus/se3.hpp:35:26: note: declared here
typedef SE3Group SE3 EIGEN_DEPRECATED;
^~~
In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13:0,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘Sophus::SE3 Sophus::se3_expd(const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:89:10: error: ‘Sophus::SE3 {aka Sophus::SE3Group}’ is not a template
return SE3(SO3::exp(upsilon_omega.template tail<3>()),
^~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:89:22: error: ‘Sophus::SO3 {aka Sophus::SO3Group}’ is not a template
return SE3(SO3::exp(upsilon_omega.template tail<3>()),
^~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: At global scope:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:106:17: error: expected nested-name-specifier before ‘Sim3’
inline typename Sim3::Tangent sim3_logd(const Sim3 &sim3) {
^~~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:106:21: error: expected initializer before ‘<’ token
inline typename Sim3::Tangent sim3_logd(const Sim3 &sim3) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:128:8: error: ‘Sophus::Sim3 {aka Sophus::Sim3Group}’ is not a template
inline Sim3 sim3_expd(
^~~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:129:58: warning: ‘Sophus::Sim3’ is deprecated [-Wdeprecated-declarations]
const Eigen::MatrixBase &upsilon_omega_sigma) {
^
In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:43:0,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10:
/opt/ros/kinetic/include/sophus/sim3.hpp:34:27: note: declared here
typedef Sim3Group Sim3 EIGEN_DEPRECATED;
^~~~
In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13:0,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘Sophus::Sim3 Sophus::sim3_expd(const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:135:10: error: ‘Sophus::Sim3 {aka Sophus::Sim3Group}’ is not a template
return Sim3(
^~~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:136:7: error: ‘RxSO3’ was not declared in this scope
RxSO3::exp(upsilon_omega_sigma.template tail<4>()),
^~~~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:136:7: note: suggested alternative: ‘RxSO3f’
RxSO3::exp(upsilon_omega_sigma.template tail<4>()),
^~~~~
RxSO3f
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:135:22: error: expected primary-expression before ‘(’ token
return Sim3(
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:136:19: error: expected primary-expression before ‘>’ token
RxSO3::exp(upsilon_omega_sigma.template tail<4>()),
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::rightJacobianSO3(const Eigen::MatrixBase&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:168:41: error: ‘Sophus::SO3 {aka Sophus::SO3Group}’ is not a template
Eigen::Matrix<Scalar, 3, 3> phi_hat = Sophus::SO3::hat(phi);
^::epsilon()) {
^::epsilon()) {
^::epsilon()) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:173:46: error: ‘::epsilon’ has not been declared
if (phi_norm2 > Sophus::Constants::epsilon()) {
^&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:208:41: error: ‘Sophus::SO3 {aka Sophus::SO3Group}’ is not a template
Eigen::Matrix<Scalar, 3, 3> phi_hat = Sophus::SO3::hat(phi);
^::epsilon()) {
^::epsilon()) {
^::epsilon()) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:214:46: error: ‘::epsilon’ has not been declared
if (phi_norm2 > Sophus::Constants::epsilon()) {
^::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:173:27: error: ‘Constants’ is not a member of ‘Sophus’ if (phi_norm2 > Sophus::Constants~~~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:173:27: note: suggested alternative: ‘SophusConstants’ if (phi_norm2 > Sophus::Constants~~~~ SophusConstants /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:173:43: error: expected primary-expression before ‘>’ token if (phi_norm2 > Sophus::Constants~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:173:46: note: suggested alternatives: In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:255:10: note: ‘boost::math::tools::epsilon’ inline T epsilon(BOOST_MATH_EXPLICIT_TEMPLATE_TYPE_SPEC(T)) ^~~ In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vinsestimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:191:10: note: ‘boost::math::tools::detail::epsilon’ inline T epsilon(const mpl::false& BOOST_MATH_APPEND_EXPLICIT_TEMPLATE_TYPE(T)) ^~~ In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13:0, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::rightJacobianInvSO3(const Eigen::MatrixBase~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:214:27: error: ‘Constants’ is not a member of ‘Sophus’ if (phi_norm2 > Sophus::Constants~~~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:214:27: note: suggested alternative: ‘SophusConstants’ if (phi_norm2 > Sophus::Constants~~~~ SophusConstants /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:214:43: error: expected primary-expression before ‘>’ token if (phi_norm2 > Sophus::Constants~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:214:46: note: suggested alternatives: In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:255:10: note: ‘boost::math::tools::epsilon’ inline T epsilon(BOOST_MATH_EXPLICIT_TEMPLATE_TYPE_SPEC(T)) ^~~ In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vinsestimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:191:10: note: ‘boost::math::tools::detail::epsilon’ inline T epsilon(const mpl::false& BOOST_MATH_APPEND_EXPLICIT_TEMPLATE_TYPE(T)) ^~~ In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:45:0, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:46: error: ‘Constants’ is not a member of ‘Sophus’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constantsdefine BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:46: note: suggested alternative: ‘SophusConstants’
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:62: error: expected primary-expression before ‘>’ token
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:65: error: ‘::epsilon’ has not been declared
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:65: note: suggested alternatives:
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:222:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/serialization.h:34,
from /opt/ros/kinetic/include/std_msgs/Header.h:14,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10:
/usr/include/boost/math/tools/precision.hpp:255:10: note: ‘boost::math::tools::epsilon’
inline T epsilon(BOOST_MATH_EXPLICIT_TEMPLATE_TYPE_SPEC(T))
^::epsilonSqrt()) {
^::epsilonSqrt()) {
^::epsilonSqrt()) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:224:54: error: ‘::epsilonSqrt’ has not been declared
if (phi_norm < M_PI - Sophus::Constants::epsilonSqrt()) {
^&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:346:41: error: ‘Sophus::SO3 {aka Sophus::SO3Group}’ is not a template
Eigen::Matrix<Scalar, 3, 3> phi_hat = Sophus::SO3::hat(phi);
^::epsilon()) {
^::epsilon()) {
^::epsilon()) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:351:46: error: ‘::epsilon’ has not been declared
if (phi_norm2 > Sophus::Constants::epsilon()) {
^&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:386:41: error: ‘Sophus::SO3 {aka Sophus::SO3Group}’ is not a template
Eigen::Matrix<Scalar, 3, 3> phi_hat = Sophus::SO3::hat(phi);
^::epsilon()) {
^::epsilon()) {
^::epsilon()) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:392:46: error: ‘::epsilon’ has not been declared
if (phi_norm2 > Sophus::Constants::epsilon()) {
^::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
~~ In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vinsestimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:191:10: note: ‘boost::math::tools::detail::epsilon’ inline T epsilon(const mpl::false& BOOST_MATH_APPEND_EXPLICIT_TEMPLATE_TYPE(T)) ^~~ In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13:0, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:224:35: error: ‘Constants’ is not a member of ‘Sophus’ if (phi_norm < M_PI - Sophus::Constants~~~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:224:35: note: suggested alternative: ‘SophusConstants’ if (phi_norm < M_PI - Sophus::Constants~~~~ SophusConstants /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:224:51: error: expected primary-expression before ‘>’ token if (phi_norm < M_PI - Sophus::Constants~~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::leftJacobianSO3(const Eigen::MatrixBase~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:351:27: error: ‘Constants’ is not a member of ‘Sophus’ if (phi_norm2 > Sophus::Constants~~~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:351:27: note: suggested alternative: ‘SophusConstants’ if (phi_norm2 > Sophus::Constants~~~~ SophusConstants /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:351:43: error: expected primary-expression before ‘>’ token if (phi_norm2 > Sophus::Constants~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:351:46: note: suggested alternatives: In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:255:10: note: ‘boost::math::tools::epsilon’ inline T epsilon(BOOST_MATH_EXPLICIT_TEMPLATE_TYPE_SPEC(T)) ^~~ In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vinsestimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:191:10: note: ‘boost::math::tools::detail::epsilon’ inline T epsilon(const mpl::false& BOOST_MATH_APPEND_EXPLICIT_TEMPLATE_TYPE(T)) ^~~ In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13:0, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::leftJacobianInvSO3(const Eigen::MatrixBase~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:392:27: error: ‘Constants’ is not a member of ‘Sophus’ if (phi_norm2 > Sophus::Constants~~~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:392:27: note: suggested alternative: ‘SophusConstants’ if (phi_norm2 > Sophus::Constants~~~~ SophusConstants /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:392:43: error: expected primary-expression before ‘>’ token if (phi_norm2 > Sophus::Constants~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:392:46: note: suggested alternatives: In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:255:10: note: ‘boost::math::tools::epsilon’ inline T epsilon(BOOST_MATH_EXPLICIT_TEMPLATE_TYPE_SPEC(T)) ^~~ In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vinsestimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:191:10: note: ‘boost::math::tools::detail::epsilon’ inline T epsilon(const mpl::false& BOOST_MATH_APPEND_EXPLICIT_TEMPLATE_TYPE(T)) ^~~ In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:45:0, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:46: error: ‘Constants’ is not a member of ‘Sophus’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constantsdefine BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:46: note: suggested alternative: ‘SophusConstants’
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:62: error: expected primary-expression before ‘>’ token
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:65: error: ‘::epsilon’ has not been declared
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:65: note: suggested alternatives:
BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/assert.h:66:43: note: in definition of macro ‘BASALT_LIKELY’
define BASALT_LIKELY(x) __builtin_expect(x, 1)
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:400:5: note: in expansion of macro ‘BASALT_ASSERT’ BASALT_ASSERT(phi_norm <= M_PI + Sophus::Constants::epsilon());
^
In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0,
from /usr/include/boost/math/special_functions/round.hpp:14,
from /opt/ros/kinetic/include/ros/time.h:58,
from /opt/ros/kinetic/include/ros/serialization.h:34,
from /opt/ros/kinetic/include/std_msgs/Header.h:14,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10:
/usr/include/boost/math/tools/precision.hpp:255:10: note: ‘boost::math::tools::epsilon’
inline T epsilon(BOOST_MATH_EXPLICIT_TEMPLATE_TYPE_SPEC(T))
^::epsilonSqrt()) {
^::epsilonSqrt()) {
^::epsilonSqrt()) {
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:402:54: error: ‘::epsilonSqrt’ has not been declared
if (phi_norm < M_PI - Sophus::Constants::epsilonSqrt()) {
^&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:443:7: error: ‘Sophus::SO3 {aka Sophus::SO3Group}’ is not a template
Sophus::SO3::exp(omega).inverse().matrix();
^&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:473:38: error: ‘Sophus::SO3 {aka Sophus::SO3Group}’ is not a template
J.template topLeftCorner<3, 3>() = Sophus::SO3::exp(omega).matrix();
^&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:503:15: error: ‘RxSO3’ is not a member of ‘Sophus’
Sophus::RxSO3::exp(omega).inverse().matrix();
^~~~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:503:15: note: suggested alternative: ‘RxSO3f’
Sophus::RxSO3::exp(omega).inverse().matrix();
^~~~~
RxSO3f
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:503:27: error: expected primary-expression before ‘>’ token
Sophus::RxSO3::exp(omega).inverse().matrix();
^
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::rightJacobianInvSim3Decoupled(const Eigen::MatrixBase&, const Eigen::MatrixBase&)’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:534:46: error: ‘RxSO3’ is not a member of ‘Sophus’
J.template topLeftCorner<3, 3>() = Sophus::RxSO3::exp(omega).matrix();
^~~~~
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:534:46: note: suggested alternative: ‘RxSO3f’
J.template topLeftCorner<3, 3>() = Sophus::RxSO3::exp(omega).matrix();
^~~~~
RxSO3f
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:534:58: error: expected primary-expression before ‘>’ token
J.template topLeftCorner<3, 3>() = Sophus::RxSO3::exp(omega).matrix();
^
In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/parameters.h:16:0,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:23,
from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../utility/utility.h: In instantiation of ‘static Eigen::Quaternion<_Scalar> Utility::quaternionAverage(const std::vector<Eigen::Quaternion<_Scalar> >&) [with T = double]’:
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:887:61: required from here
/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../utility/utility.h:183:27: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (size_t i=0; i<singularValues.rows(); ++i)
VIW-Fusion-master/vins_estimator/CMakeFiles/vins_lib.dir/build.make:86: recipe for target 'VIW-Fusion-master/vins_estimator/CMakeFiles/vins_lib.dir/src/estimator/estimator.cpp.o' failed
make[2]: [VIW-Fusion-master/vins_estimator/CMakeFiles/vins_lib.dir/src/estimator/estimator.cpp.o] Error 1
CMakeFiles/Makefile2:1975: recipe for target 'VIW-Fusion-master/vins_estimator/CMakeFiles/vins_lib.dir/all' failed
make[1]: [VIW-Fusion-master/vins_estimator/CMakeFiles/vins_lib.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed
~~ In file included from /usr/include/boost/math/policies/error_handling.hpp:20:0, from /usr/include/boost/math/special_functions/round.hpp:14, from /opt/ros/kinetic/include/ros/time.h:58, from /opt/ros/kinetic/include/ros/serialization.h:34, from /opt/ros/kinetic/include/std_msgs/Header.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:14, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vinsestimator/src/estimator/estimator.cpp:10: /usr/include/boost/math/tools/precision.hpp:191:10: note: ‘boost::math::tools::detail::epsilon’ inline T epsilon(const mpl::false& BOOST_MATH_APPEND_EXPLICIT_TEMPLATE_TYPE(T)) ^~~ In file included from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/wheel_integration_base.h:13:0, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/initial_alignment.h:20, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.h:29, from /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/estimator.cpp:10: /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:402:35: error: ‘Constants’ is not a member of ‘Sophus’ if (phi_norm < M_PI - Sophus::Constants~~~~ /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:402:35: note: suggested alternative: ‘SophusConstants’ if (phi_norm < M_PI - Sophus::Constants~~~~ SophusConstants /home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp:402:51: error: expected primary-expression before ‘>’ token if (phi_norm < M_PI - Sophus::Constants~~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::rightJacobianSE3Decoupled(const Eigen::MatrixBase~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::rightJacobianInvSE3Decoupled(const Eigen::MatrixBase~/home/liuxin/orb_slam_2/catkin_vins_viw_fusion/src/VIW-Fusion-master/vins_estimator/src/estimator/../initial/../factor/../utility/sophus_utils.hpp: In function ‘void Sophus::rightJacobianSim3Decoupled(const Eigen::MatrixBase