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hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR
GNU General Public License v2.0
1.42k stars 435 forks source link

catkin_make errors with noetic && Ubuntu 20.04 LTS #121

Open Origami404 opened 1 year ago

Origami404 commented 1 year ago

Solve by change like this:

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e33a03..9cb887d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 2.8.3)
 project(loam_livox)

 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++14")
+#set(CMAKE_CXX_FLAGS "-std=c++14")
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

 find_package(catkin REQUIRED COMPONENTS
diff --git a/source/laser_feature_extractor.hpp b/source/laser_feature_extractor.hpp
index 390491e..ed75aef 100644
--- a/source/laser_feature_extractor.hpp
+++ b/source/laser_feature_extractor.hpp
@@ -39,7 +39,8 @@

 #include <cmath>
 #include <nav_msgs/Odometry.h>
-#include <opencv/cv.h>
+//#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/point_cloud.h>
diff --git a/source/read_camera.cpp b/source/read_camera.cpp
index f99d897..9d92295 100644
--- a/source/read_camera.cpp
+++ b/source/read_camera.cpp
@@ -22,10 +22,10 @@ int main( int argc, char **argv )
       ROS_ERROR("Open Camera error! exit node");
         return -1;
     }
-    cap.set(CV_CAP_PROP_SETTINGS, 1); //opens camera properties dialog
+    cap.set(cv::CAP_PROP_SETTINGS, 1); //opens camera properties dialog

-    cap.set( CV_CAP_PROP_FRAME_WIDTH, 320 );
-    cap.set( CV_CAP_PROP_FRAME_HEIGHT, 240 );
+    cap.set( cv::CAP_PROP_FRAME_WIDTH, 320 );
+    cap.set( cv::CAP_PROP_FRAME_HEIGHT, 240 );
     std::cout << "MJPG: " << cap.set( cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc( 'M', 'J', 'P', 'G' ) ) << std::endl;
     std::cout << "~~~ Read camera OK ~~~" << std::endl;
     cv::Mat frame;
wangzika commented 1 year ago

Solve by change like this:

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e33a03..9cb887d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 2.8.3)
 project(loam_livox)

 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++14")
+#set(CMAKE_CXX_FLAGS "-std=c++14")
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

 find_package(catkin REQUIRED COMPONENTS
diff --git a/source/laser_feature_extractor.hpp b/source/laser_feature_extractor.hpp
index 390491e..ed75aef 100644
--- a/source/laser_feature_extractor.hpp
+++ b/source/laser_feature_extractor.hpp
@@ -39,7 +39,8 @@

 #include <cmath>
 #include <nav_msgs/Odometry.h>
-#include <opencv/cv.h>
+//#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/point_cloud.h>
diff --git a/source/read_camera.cpp b/source/read_camera.cpp
index f99d897..9d92295 100644
--- a/source/read_camera.cpp
+++ b/source/read_camera.cpp
@@ -22,10 +22,10 @@ int main( int argc, char **argv )
       ROS_ERROR("Open Camera error! exit node");
         return -1;
     }
-    cap.set(CV_CAP_PROP_SETTINGS, 1); //opens camera properties dialog
+    cap.set(cv::CAP_PROP_SETTINGS, 1); //opens camera properties dialog

-    cap.set( CV_CAP_PROP_FRAME_WIDTH, 320 );
-    cap.set( CV_CAP_PROP_FRAME_HEIGHT, 240 );
+    cap.set( cv::CAP_PROP_FRAME_WIDTH, 320 );
+    cap.set( cv::CAP_PROP_FRAME_HEIGHT, 240 );
     std::cout << "MJPG: " << cap.set( cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc( 'M', 'J', 'P', 'G' ) ) << std::endl;
     std::cout << "~~~ Read camera OK ~~~" << std::endl;
     cv::Mat frame;

/home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:293:12: error: ‘LocalParameterization’ is not a member of ‘ceres’ 293 | ceres::LocalParameterization quaternion_local_parameterization = | ^~~~~ /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:293:35: error: ‘quaternion_local_parameterization’ was not declared in this scope 293 | ceres::LocalParameterization quaternion_local_parameterization = | ^~~~~~~~~ /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:294:20: error: ‘EigenQuaternionParameterization’ in namespace ‘ceres’ does not name a type 294 | new ceres::EigenQuaternionParameterization; | ^~~~~~~ /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:317:18: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’? 317 | problem->SetParameterization( pose_begin_iter->second.q.coeffs().data(), | ^~~~~~~ | SetParameterLowerBound /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:319:18: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’? 319 | problem->SetParameterization( pose_end_iter->second.q.coeffs().data(), | ^~~~~~~ | SetParameterLowerBound In file included from /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.hpp:68, from /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.cpp:37: /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp: In member function ‘int Point_cloud_registration::find_out_incremental_transfrom(pcl::PointCloud::Ptr, pcl::PointCloud::Ptr, pcl::KdTreeFLANN&, pcl::KdTreeFLANN&, pcl::PointCloud::Ptr, pcl::PointCloud::Ptr)’: /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp:221:20: error: ‘LocalParameterization’ is not a member of ‘ceres’ 221 | ceres::LocalParameterization q_parameterization = new ceres::EigenQuaternionParameterization(); | ^~~~~ /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp:221:49: error: ‘q_parameterization’ was not declared in this scope 221 | ceres::LocalParameterization q_parameterization = new ceres::EigenQuaternionParameterization(); | ^~~~~~ /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp:221:74: error: expected type-specifier 221 | ceres::LocalParameterization * q_parameterization = new ceres::EigenQuaternionParameterization(); | ^~~~~ In file included from /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.cpp:37: /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.hpp: In member function ‘void Laser_mapping::service_loop_detection()’:

hello,after doing this,i meet this new error,can youhelp me?thanks

ginwodka commented 1 year ago

Solve by change like this:

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e33a03..9cb887d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,8 @@ cmake_minimum_required(VERSION 2.8.3)
 project(loam_livox)

 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++14")
+#set(CMAKE_CXX_FLAGS "-std=c++14")
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

 find_package(catkin REQUIRED COMPONENTS
diff --git a/source/laser_feature_extractor.hpp b/source/laser_feature_extractor.hpp
index 390491e..ed75aef 100644
--- a/source/laser_feature_extractor.hpp
+++ b/source/laser_feature_extractor.hpp
@@ -39,7 +39,8 @@

 #include <cmath>
 #include <nav_msgs/Odometry.h>
-#include <opencv/cv.h>
+//#include <opencv/cv.h>
+#include <opencv2/opencv.hpp>
 #include <pcl/filters/voxel_grid.h>
 #include <pcl/kdtree/kdtree_flann.h>
 #include <pcl/point_cloud.h>
diff --git a/source/read_camera.cpp b/source/read_camera.cpp
index f99d897..9d92295 100644
--- a/source/read_camera.cpp
+++ b/source/read_camera.cpp
@@ -22,10 +22,10 @@ int main( int argc, char **argv )
       ROS_ERROR("Open Camera error! exit node");
         return -1;
     }
-    cap.set(CV_CAP_PROP_SETTINGS, 1); //opens camera properties dialog
+    cap.set(cv::CAP_PROP_SETTINGS, 1); //opens camera properties dialog

-    cap.set( CV_CAP_PROP_FRAME_WIDTH, 320 );
-    cap.set( CV_CAP_PROP_FRAME_HEIGHT, 240 );
+    cap.set( cv::CAP_PROP_FRAME_WIDTH, 320 );
+    cap.set( cv::CAP_PROP_FRAME_HEIGHT, 240 );
     std::cout << "MJPG: " << cap.set( cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc( 'M', 'J', 'P', 'G' ) ) << std::endl;
     std::cout << "~~~ Read camera OK ~~~" << std::endl;
     cv::Mat frame;

/home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:293:12: error: ‘LocalParameterization’ is not a member of ‘ceres’ 293 | ceres::LocalParameterization quaternion_local_parameterization = | ^~~~~ /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:293:35: error: ‘quaternion_local_parameterization’ was not declared in this scope 293 | ceres::LocalParameterization quaternion_local_parameterization = | ^~~~~~~~~ /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:294:20: error: ‘EigenQuaternionParameterization’ in namespace ‘ceres’ does not name a type 294 | new ceres::EigenQuaternionParameterization; | ^~~~~~~ /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:317:18: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’? 317 | problem->SetParameterization( pose_begin_iter->second.q.coeffs().data(), | ^~~~~ | SetParameterLowerBound /home/xdh/livox_ws/src/loam_livox/source/ceres_pose_graph_3d.hpp:319:18: error: ‘class ceres::Problem’ has no member named ‘SetParameterization’; did you mean ‘SetParameterLowerBound’? 319 | problem->SetParameterization( pose_end_iter->second.q.coeffs().data(), | ^~~~~ | SetParameterLowerBound In file included from /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.hpp:68, from /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.cpp:37: /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp: In member function ‘int Point_cloud_registration::find_out_incremental_transfrom(pcl::PointCloudpcl::PointXYZI::Ptr, pcl::PointCloudpcl::PointXYZI::Ptr, pcl::KdTreeFLANNpcl::PointXYZI&, pcl::KdTreeFLANNpcl::PointXYZI&, pcl::PointCloudpcl::PointXYZI::Ptr, pcl::PointCloudpcl::PointXYZI::Ptr)’: /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp:221:20: error: ‘LocalParameterization’ is not a member of ‘ceres’ 221 | ceres::LocalParameterization q_parameterization = new ceres::EigenQuaternionParameterization(); | ^~~~~ /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp:221:49: error: ‘q_parameterization’ was not declared in this scope 221 | ceres::LocalParameterization q_parameterization = new ceres::EigenQuaternionParameterization(); | ^~~~~~ /home/xdh/livox_ws/src/loam_livox/source/point_cloud_registration.hpp:221:74: error: expected type-specifier 221 | ceres::LocalParameterization * q_parameterization = new ceres::EigenQuaternionParameterization(); | ^~~~~ In file included from /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.cpp:37: /home/xdh/livox_ws/src/loam_livox/source/laser_mapping.hpp: In member function ‘void Laser_mapping::service_loop_detection()’:

hello,after doing this,i meet this new error,can youhelp me?thanks

hi, i ran into the same errors. The problem is that some names changed in ceres. I had to replace some names in the files from the error log, but i cant remember on each name i changed, so start with: ceres::LocalParameterization is now ceres::Manifold. https://github.com/opencv/opencv_contrib/issues/3218 If you cant solve it, i could look again into those files. Just let me know (i also use noetic & 20.04 with newest pcl, ceres and so on)

Edit: see also old - ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionParameterization();

new - ceres::LocalParameterization *q_parameterization = new ceres::EigenQuaternionManifold();

old - problem.SetParameterization(transformVec.at(i).rotationData() new - problem.SetManifold(transformVec.at(i).rotationData(), quaternionParameterization);