Shared Post - Issues and Solutions in the Compilation Process

I would like to thank the author for their outstanding work. To assist with the faster deployment of ikalib, I am sharing the issues and solutions I encountered during my own deployment process, hoping to help others in need. Describe the bug To avoid conflicts with installed libraries, I installed dependencies like Ceres, Spdlog, etc., in a non-root directory during the deployment of ikalib.

System Information

Operating System: Ubuntu 20.04
Installed Dependencies in Root Directory: Eigen 3.3.7, Ceres 1.14.0, Spdlog 1.5.0, Pangolin 0.8

To Reproduce Steps to reproduce the behavior:

Source Compilation
- Follow the author's installation process to download and compile required dependencies from source. a. The provided CMake version is 3.27.0, but the minimum required version for installing Glomap is 3.28.0. b. I added -DCMAKE_INSTALL_PREFIX="path/to/your" during the CMake process to install dependencies in a custom location. c. Ceres 2.2.0 encountered an issue with CUDA not finding /usr/bin/nvcc. Add -DCMAKE_CUDA_COMPILER="/usr/local/cuda/bin/nvcc" after cmake .. . d. To compile Glomap with Eigen 3.3.7 and Ceres 1.14.0, change Ceres::ceres in CMakeLists.txt to ceres. For Eigen 3.4.0 and Ceres 2.2.0, first install Eigen 3.4.0, then recompile Ceres with Eigen 3.4.0 dependencies, and modify the CMakeLists.txt paths accordingly:
```
set(Ceres_DIR path/to/your/lib/cmake/Ceres)
find_package(Ceres 2.2.0 REQUIRED)
set(CERES_INCLUDE_DIRS path/to/your/include/ceres)
include_directories(${CERES_INCLUDE_DIRS})
```
  Finally, add -DCMAKE_CUDA_COMPILER="/usr/local/cuda/bin/nvcc" and compile Glomap.

Compiling ikalib's Third-Party Libraries

Pay special attention to the ctraj library. Modify ctraj/src/CMakeLists.txt as follows:

set(Sophus_DIR path/to/your/share/sophus/cmake)
find_package(Sophus 1.22.0 REQUIRED)
set(SOPHUS_INCLUDE_DIRS path/to/your/include/sophus)
include_directories(${SOPHUS_INCLUDE_DIRS})

set(Ceres_DIR path/to/your/lib/cmake/Ceres)
find_package(Ceres 2.2.0 REQUIRED)
set(CERES_INCLUDE_DIRS path/to/your/include/ceres)
include_directories(${CERES_INCLUDE_DIRS})

Compiling ikalibr_generate_messages
- If Ceres::ceres is not found, it indicates that Ceres 2.2.0 could not be located. Add -DCeres_DIR="path/to/your/lib/cmake/Ceres" after catkin_make.

Run Catkin Make

Command: catkin_make -j8 -DUSE_CMAKE_UNITY_BUILD=ON a. If magic_enum is not found, modify iKalib/src/ikalib/CMakeLists.txt:

set(magic_enum_DIR path/to/your/lib/cmake/magic_enum)
find_package(magic_enum)
set(MAGIC_ENUM_INCLUDE_DIRS path/to/your/include)
include_directories(${MAGIC_ENUM_INCLUDE_DIRS})

b. If fmt::format_string is undeclared, modify iKalib/src/ikalib/CMakeLists.txt by adding before Build:

set(spdlog_DIR path/to/your/lib/cmake/spdlog)
find_package(spdlog)
set(SPDLOG_INCLUDE_DIRS path/to/your/include/spdlog)
include_directories(${SPDLOG_INCLUDE_DIRS})

Additional Context If CMake is not upgraded to version 3.27.0 or later, issues such as missing CUDA::cusolver may arise during the compilation of ctraj.

Unsigned-Long / iKalibr

Shared Post - Issues and Solutions in the Compilation Process #15