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gogojjh / M-LOAM

Robust Odometry and Mapping for Multi-LiDAR Systems with Online Extrinsic Calibration
http://gofile.me/4jm56/zU2yvg3bH
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PCL incompatibility: no matching function for call to multiple pcl functions #14

Closed chenpengxin closed 3 years ago

chenpengxin commented 3 years ago

Hi,

Very grateful for your contributions to the community. But could you make it clear which pcl version you are using? I got errors when compiling your codes, mainly the no matching function for call to pcl::VoxelGrid and pcl::KdTreeFLANN functions. I guess it might be because the pcl version incompatibility. Note that I am using pcl-1.11

I attach my error logs as follows, many thanks!

peter@peter-ThinkStation-P330:~/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM$ catkin build mloam

Profile: default Extending: [cached] /opt/ros/melodic Workspace: /home/peter/HDD2T/workspace/1_opensource/mloam_ws

Build Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/build Devel Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/devel Install Space: [unused] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/install Log Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/logs Source Space: [exists] /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '8' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> mloam_common
Starting >>> mloam_msgs
Starting >>> mloam_pcl
Finished <<< mloam_msgs [ 0.1 seconds ]
Finished <<< mloam_common [ 0.1 seconds ]
Finished <<< mloam_pcl [ 0.1 seconds ]
Starting >>> mloam

Errors << mloam:make /home/peter/HDD2T/workspace/1_opensource/mloam_ws/logs/mloam/build.make.002.log
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/featureExtract/feature_extract.cpp: In member function ‘void FeatureExtract::extractCloud(const PointICloud&, const ScanInfo&, cloudFeature&)’: /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/featureExtract/feature_extract.cpp:125:73: error: conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloud >::type {aka boost::shared_ptr<pcl::PointCloud >}’ to non-scalar type ‘const Ptr {aka const std::shared_ptr<pcl::PointCloud >}’ requested const PointICloud::Ptr laser_cloud = boost::make_shared(laser_cloud_in);


/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp: In member function ‘Pose LidarTracker::trackCloud(const cloudFeature&, const cloudFeature&, const Pose&)’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:31:72: **error:** conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ requested
     PointICloudPtr corner_points_last = boost::make_shared<PointICloud>(prev_cloud_feature.find("corner_points_less_sharp")->second);
                                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:32:70:** error:** conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ requested
     PointICloudPtr surf_points_last = boost::make_shared<PointICloud>(prev_cloud_feature.find("surf_points_less_flat")->second);
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:37:73: **error**: conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ requested
     PointICloudPtr corner_points_sharp = boost::make_shared<PointICloud>(cur_cloud_feature.find("corner_points_sharp")->second);
                                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/lidarTracker/lidar_tracker.cpp:38:70: **error:** conversion from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to non-scalar type ‘common::PointICloudPtr {aka std::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ requested
     PointICloudPtr surf_points_flat = boost::make_shared<PointICloud>(cur_cloud_feature.find("surf_points_flat")->second);
                                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp: In member function ‘void Estimator::process()’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:488:94:** error**: no matching function for call to ‘pcl::VoxelGrid<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         down_size_filter_corner_.setInputCloud(boost::make_shared<PointICloud>(corner_points));
                                                                                              ^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
                 from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
                 from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
                 from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase<PointT>::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase<PointT>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >]
       setInputCloud (const PointCloudConstPtr &cloud);
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:493:90: **error:** no matching function for call to ‘pcl::VoxelGrid<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         down_size_filter_surf_.setInputCloud(boost::make_shared<PointICloud>(surf_points));
                                                                                          ^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
                 from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
                 from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
                 from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase<PointT>::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase<PointT>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >]
       setInputCloud (const PointCloudConstPtr &cloud);
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp: In member function ‘void Estimator::buildCalibMap()’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1106:98: **error**: no matching function for call to ‘pcl::VoxelGrid<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         down_size_filter.setInputCloud(boost::make_shared<PointICloud>(surf_points_local_map_[n]));
                                                                                                  ^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
                 from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
                 from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
                 from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase<PointT>::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase<PointT>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >]
       setInputCloud (const PointCloudConstPtr &cloud);
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1108:100: **error:** no matching function for call to ‘pcl::VoxelGrid<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         down_size_filter.setInputCloud(boost::make_shared<PointICloud>(corner_points_local_map_[n]));
                                                                                                    ^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
                 from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
                 from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
                 from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase<PointT>::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase<PointT>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >]
       setInputCloud (const PointCloudConstPtr &cloud);
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1129:120:** error:** no matching function for call to ‘pcl::KdTreeFLANN<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         kdtree_surf_points_local_map->setInputCloud(boost::make_shared<PointICloud>(surf_points_local_map_filtered_[n]));
                                                                                                                        ^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple<float>; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector<int> >]
       setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1130:124: **error:** no matching function for call to ‘pcl::KdTreeFLANN<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         kdtree_corner_points_local_map->setInputCloud(boost::make_shared<PointICloud>(corner_points_local_map_filtered_[n]));
                                                                                                                            ^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple<float>; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector<int> >]
       setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp: In member function ‘void Estimator::buildLocalMap()’:
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1198:98: **error: **no matching function for call to ‘pcl::VoxelGrid<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         down_size_filter.setInputCloud(boost::make_shared<PointICloud>(surf_points_local_map_[n]));
                                                                                                  ^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
                 from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
                 from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
                 from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase<PointT>::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase<PointT>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >]
       setInputCloud (const PointCloudConstPtr &cloud);
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1202:100: **error: **no matching function for call to ‘pcl::VoxelGrid<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         down_size_filter.setInputCloud(boost::make_shared<PointICloud>(corner_points_local_map_[n]));
                                                                                                    ^
In file included from /usr/local/include/pcl-1.11/pcl/correspondence.h:45:0,
                 from /usr/local/include/pcl-1.11/pcl/cloud_iterator.h:43,
                 from /usr/local/include/pcl-1.11/pcl/common/centroid.h:46,
                 from /usr/local/include/pcl-1.11/pcl/common/transforms.h:44,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:36,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note: candidate: void pcl::PCLBase<PointT>::setInputCloud(const PointCloudConstPtr&) [with PointT = pcl::PointXYZI; pcl::PCLBase<PointT>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >]
       setInputCloud (const PointCloudConstPtr &cloud);
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/pcl_base.h:95:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1231:120: **error: **no matching function for call to ‘pcl::KdTreeFLANN<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         kdtree_surf_points_local_map->setInputCloud(boost::make_shared<PointICloud>(surf_points_local_map_filtered_[n]));
                                                                                                                        ^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple<float>; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector<int> >]
       setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
/home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:1233:124: **error: **no matching function for call to ‘pcl::KdTreeFLANN<pcl::PointXYZI>::setInputCloud(boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type)’
         kdtree_corner_points_local_map->setInputCloud(boost::make_shared<PointICloud>(corner_points_local_map_filtered_[n]));
                                                                                                                            ^
In file included from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/parameters.h:31:0,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.h:45,
                 from /home/peter/HDD2T/workspace/1_opensource/mloam_ws/src/M-LOAM/estimator/src/estimator/estimator.cpp:14:
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note: candidate: void pcl::KdTreeFLANN<PointT, Dist>::setInputCloud(const PointCloudConstPtr&, const IndicesConstPtr&) [with PointT = pcl::PointXYZI; Dist = flann::L2_Simple<float>; pcl::KdTreeFLANN<PointT, Dist>::PointCloudConstPtr = std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >; pcl::KdTreeFLANN<PointT, Dist>::IndicesConstPtr = std::shared_ptr<const std::vector<int> >]
       setInputCloud (const PointCloudConstPtr &cloud, const IndicesConstPtr &indices = IndicesConstPtr ()) override;
       ^~~~~~~~~~~~~
/usr/local/include/pcl-1.11/pcl/kdtree/kdtree_flann.h:144:7: note:   no known conversion for argument 1 from ‘boost::detail::sp_if_not_array<pcl::PointCloud<pcl::PointXYZI> >::type {aka boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> >}’ to ‘const PointCloudConstPtr& {aka const std::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&}’
make[2]: *** [CMakeFiles/mloam_lib.dir/src/featureExtract/feature_extract.cpp.o] **Error 1**
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/mloam_lib.dir/src/lidarTracker/lidar_tracker.cpp.o] **Error 1**
make[2]: *** [CMakeFiles/mloam_lib.dir/src/estimator/estimator.cpp.o] **Error 1**
make[1]: *** [CMakeFiles/mloam_lib.dir/all] **Error 2**
make: *** [all] **Error 2**
cd /home/peter/HDD2T/workspace/1_opensource/mloam_ws/build/mloam; catkin build --get-env mloam | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
.....................................................................................................................
Failed     << mloam:make                  [ Exited with code 2 ]                                                     
Failed    <<< mloam                       [ 48.7 seconds ]                                                           
[build] Summary: 3 of 4 packages succeeded.                                                                          
[build]   Ignored:   4 packages were skipped or are blacklisted.                                                     
[build]   Warnings:  None.                                                                                           
[build]   Abandoned: None.                                                                                           
[build]   Failed:    1 packages failed.                                                                              
[build] Runtime: 48.9 seconds total.
gogojjh commented 3 years ago

Thanks for your comment. I used PCL-1.8