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hku-mars / livox_camera_calib

This repository is used for automatic calibration between high resolution LiDAR and camera in targetless scenes.
GNU General Public License v2.0
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catkin_make ---> error #79

Open kt-rax opened 1 year ago

kt-rax commented 1 year ago

root@ubuntu:~/catkin_ws# catkin_make Base path: /root/catkin_ws Source space: /root/catkin_ws/src Build space: /root/catkin_ws/build Devel space: /root/catkin_ws/devel Install space: /root/catkin_ws/install

Running command: "make cmake_check_build_system" in "/root/catkin_ws/build"

Running command: "make -j32 -l32" in "/root/catkin_ws/build"

[ 8%] Automatic MOC and UIC for target lidar_camera_multi_calib [ 16%] Automatic MOC and UIC for target bag_to_pcd [ 25%] Automatic MOC and UIC for target lidar_camera_calib [ 25%] Built target lidar_camera_multi_calib_autogen [ 25%] Built target bag_to_pcd_autogen [ 25%] Built target lidar_camera_calib_autogen [ 33%] Building CXX object livox_camera_calib/CMakeFiles/lidar_camera_multi_calib.dir/src/lidar_camera_multi_calib.cpp.o [ 41%] Building CXX object livox_camera_calib/CMakeFiles/lidar_camera_calib.dir/src/lidar_camera_calib.cpp.o [ 66%] Built target bag_to_pcd In file included from /usr/include/eigen3/Eigen/Core:22:0, from /root/catkin_ws/src/livox_camera_calib/include/common.h:3, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:5, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:1: /usr/include/eigen3/Eigen/src/Core/util/ConfigureVectorization.h:38:38: warning: attribute ignored in declaration of ‘struct pcl::_PointXYZHSV’ [-Wattributes]

define EIGEN_ALIGN_TO_BOUNDARY(n) alignas(n)

                                  ^

/usr/include/eigen3/Eigen/src/Core/util/ConfigureVectorization.h:38:38: note: attribute for ‘struct pcl::_PointXYZHSV’ must follow the ‘struct’ keyword In file included from /opt/ros/melodic/include/roslz4/lz4s.h:38:0, from /opt/ros/melodic/include/rosbag/stream.h:46, from /opt/ros/melodic/include/rosbag/chunked_file.h:46, from /opt/ros/melodic/include/rosbag/bag.h:41, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:25, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:1: /usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t; ^~~~ In file included from /usr/include/flann/util/serialization.h:9:0, from /usr/include/flann/util/matrix.h:35, from /usr/include/flann/flann.hpp:41, from /usr/include/pcl-1.8/pcl/kdtree/flann.h:50, from /usr/include/pcl-1.8/pcl/kdtree/kdtree_flann.h:45, from /usr/include/pcl-1.8/pcl/search/kdtree.h:44, from /usr/include/pcl-1.8/pcl/search/pcl_search.h:44, from /usr/include/pcl-1.8/pcl/features/impl/feature.hpp:44, from /usr/include/pcl-1.8/pcl/features/feature.h:498, from /usr/include/pcl-1.8/pcl/features/normal_3d.h:44, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:13, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:1: /usr/include/flann/ext/lz4.h:196:57: note: previous declaration as ‘typedef struct LZ4_stream_t LZ4_stream_t’ typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t; ^~~~ In file included from /opt/ros/melodic/include/roslz4/lz4s.h:38:0, from /opt/ros/melodic/include/rosbag/stream.h:46, from /opt/ros/melodic/include/rosbag/chunked_file.h:46, from /opt/ros/melodic/include/rosbag/bag.h:41, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:25, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:1: /usr/include/lz4.h:249:72: error: conflicting declaration ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ typedef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~ In file included from /usr/include/flann/util/serialization.h:9:0, from /usr/include/flann/util/matrix.h:35, from /usr/include/flann/flann.hpp:41, from /usr/include/pcl-1.8/pcl/kdtree/flann.h:50, from /usr/include/pcl-1.8/pcl/kdtree/kdtree_flann.h:45, from /usr/include/pcl-1.8/pcl/search/kdtree.h:44, from /usr/include/pcl-1.8/pcl/search/pcl_search.h:44, from /usr/include/pcl-1.8/pcl/features/impl/feature.hpp:44, from /usr/include/pcl-1.8/pcl/features/feature.h:498, from /usr/include/pcl-1.8/pcl/features/normal_3d.h:44, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:13, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:1: /usr/include/flann/ext/lz4.h:249:72: note: previous declaration as ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ typedef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~ In file included from /opt/ros/melodic/include/roslz4/lz4s.h:38:0, from /opt/ros/melodic/include/rosbag/stream.h:46, from /opt/ros/melodic/include/rosbag/chunked_file.h:46, from /opt/ros/melodic/include/rosbag/bag.h:41, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:25, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:3: /usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’ typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t; ^~~~ In file included from /usr/include/flann/util/serialization.h:9:0, from /usr/include/flann/util/matrix.h:35, from /usr/include/flann/flann.hpp:41, from /usr/include/pcl-1.8/pcl/kdtree/flann.h:50, from /usr/include/pcl-1.8/pcl/kdtree/kdtree_flann.h:45, from /usr/include/pcl-1.8/pcl/search/kdtree.h:44, from /usr/include/pcl-1.8/pcl/search/pcl_search.h:44, from /usr/include/pcl-1.8/pcl/features/impl/feature.hpp:44, from /usr/include/pcl-1.8/pcl/features/feature.h:498, from /usr/include/pcl-1.8/pcl/features/normal_3d.h:44, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:13, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:3: /usr/include/flann/ext/lz4.h:196:57: note: previous declaration as ‘typedef struct LZ4_stream_t LZ4_stream_t’ typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t; ^~~~ In file included from /opt/ros/melodic/include/roslz4/lz4s.h:38:0, from /opt/ros/melodic/include/rosbag/stream.h:46, from /opt/ros/melodic/include/rosbag/chunked_file.h:46, from /opt/ros/melodic/include/rosbag/bag.h:41, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:25, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:3: /usr/include/lz4.h:249:72: error: conflicting declaration ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ typedef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~ In file included from /usr/include/flann/util/serialization.h:9:0, from /usr/include/flann/util/matrix.h:35, from /usr/include/flann/flann.hpp:41, from /usr/include/pcl-1.8/pcl/kdtree/flann.h:50, from /usr/include/pcl-1.8/pcl/kdtree/kdtree_flann.h:45, from /usr/include/pcl-1.8/pcl/search/kdtree.h:44, from /usr/include/pcl-1.8/pcl/search/pcl_search.h:44, from /usr/include/pcl-1.8/pcl/features/impl/feature.hpp:44, from /usr/include/pcl-1.8/pcl/features/feature.h:498, from /usr/include/pcl-1.8/pcl/features/normal_3d.h:44, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:13, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:3: /usr/include/flann/ext/lz4.h:249:72: note: previous declaration as ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’ typedef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t; ^~~~~~ /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp: In function ‘int main(int, char)’: /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:312:14: error: ‘LocalParameterization’ is not a member of ‘ceres’ ceres::LocalParameterization q_parameterization = ^~~~~ /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:312:37: error: ‘q_parameterization’ was not declared in this scope ceres::LocalParameterization q_parameterization = ^~~~~~ /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:313:15: error: expected type-specifier new ceres::EigenQuaternionParameterization(); ^~~~~ /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp: In function ‘int main(int, char)’: /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:311:14: error: ‘LocalParameterization’ is not a member of ‘ceres’ ceres::LocalParameterization q_parameterization = ^~~~~ /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:311:37: error: ‘q_parameterization’ was not declared in this scope ceres::LocalParameterization q_parameterization = ^~~~~~ /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:312:15: error: expected type-specifier new ceres::EigenQuaternionParameterization(); ^~~~~ In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0, from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45, from /usr/include/pcl-1.8/pcl/sample_consensus/ransac.h:44, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:19, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_calib.cpp:1: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations] SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel)); ^~~~~~~ /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here In file included from /usr/include/pcl-1.8/pcl/sample_consensus/sac_model.h:52:0, from /usr/include/pcl-1.8/pcl/sample_consensus/sac.h:45, from /usr/include/pcl-1.8/pcl/sample_consensus/ransac.h:44, from /root/catkin_ws/src/livox_camera_calib/include/lidar_camera_calib.hpp:19, from /root/catkin_ws/src/livox_camera_calib/src/lidar_camera_multi_calib.cpp:3: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h: In function ‘void __static_initialization_and_destruction_0(int, int)’: /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: warning: ‘pcl::SAC_SAMPLE_SIZE’ is deprecated: This map is deprecated and is kept only to prevent breaking existing user code. Starting from PCL 1.8.0 model sample size is a protected member of the SampleConsensusModel class [-Wdeprecated-declarations] SAC_SAMPLE_SIZE (sample_size_pairs, sample_size_pairs + sizeof (sample_size_pairs) / sizeof (SampleSizeModel)); ^~~~~~~ /usr/include/pcl-1.8/pcl/sample_consensus/model_types.h:99:3: note: declared here livox_camera_calib/CMakeFiles/lidar_camera_calib.dir/build.make:89: recipe for target 'livox_camera_calib/CMakeFiles/lidar_camera_calib.dir/src/lidar_camera_calib.cpp.o' failed make[2]: [livox_camera_calib/CMakeFiles/lidar_camera_calib.dir/src/lidar_camera_calib.cpp.o] Error 1 CMakeFiles/Makefile2:2500: recipe for target 'livox_camera_calib/CMakeFiles/lidar_camera_calib.dir/all' failed make[1]: [livox_camera_calib/CMakeFiles/lidar_camera_calib.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... livox_camera_calib/CMakeFiles/lidar_camera_multi_calib.dir/build.make:89: recipe for target 'livox_camera_calib/CMakeFiles/lidar_camera_multi_calib.dir/src/lidar_camera_multi_calib.cpp.o' failed make[2]: [livox_camera_calib/CMakeFiles/lidar_camera_multi_calib.dir/src/lidar_camera_multi_calib.cpp.o] Error 1 CMakeFiles/Makefile2:2526: recipe for target 'livox_camera_calib/CMakeFiles/lidar_camera_multi_calib.dir/all' failed make[1]: [livox_camera_calib/CMakeFiles/lidar_camera_multi_calib.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j32 -l32" failed root@ubuntu:~/catkin_ws# pwd

在catkin_ws与src目录下都放了项目源码livox_camera_calib 可以catkin_make但是有如上的错误 image 不然有错误： The specified base path "/。。。 [contains] 。。。a package but "catkin_make" must be invoked in the root of workspace

kt-rax commented 1 year ago

image

kt-rax commented 1 year ago

ceres-solver用的哪个版本呢？谢谢

kt-rax commented 1 year ago

image

Yangbit666 commented 1 year ago

image Hi, met the same problem in catkin_make, have you solved it? 你好，catkin_make过程遇到了相同的问题，请问您解决了吗？