luxiya01
commented
2 months ago Hi, I tested the master branch on Ubuntu 22.04 and ceres 2.1.0 and didn't experience compilation errors. Could it be that you have multiple ceres installed on your machine?
Closed lbhqw closed 2 months ago
luxiya01
commented
2 months ago Hi, I tested the master branch on Ubuntu 22.04 and ceres 2.1.0 and didn't experience compilation errors. Could it be that you have multiple ceres installed on your machine?
lbhqw
commented
2 months ago No,I used Ubuntu 20.04 and ceres 2.1.0 ,some details list: it seems that errors between ceres and g2o
optimizer.cpp:12:
/home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:275:11: error: reference to ‘ceres’ is ambiguous
275 | CHECK(ceres::optimizer::ReadG2oFile(outFilename, &poses, &constraints))
| ^~~~~
In file included from /usr/local/include/g2o/autodiff/fixed_array.h:41,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:36,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/slam3d/edge_se3.h:30,
from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/graph_construction.hpp:16,
from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/ceres_optimizer.hpp:23,
from /home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:12:
/usr/local/include/g2o/autodiff/memory.h:44:11: note: candidates are: ‘namespace g2o::ceres { }’
44 | namespace ceres {
| ^~~~~
In file included from /usr/local/include/ceres/internal/fixed_array.h:41,
from /usr/local/include/ceres/internal/array_selector.h:38,
from /usr/local/include/ceres/internal/autodiff.h:147,
from /usr/local/include/ceres/autodiff_cost_function.h:130,
from /usr/local/include/ceres/ceres.h:37,
from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/ceres_optimizer.hpp:19,
from /home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:12:
/usr/local/include/ceres/internal/memory.h:43:11: note: ‘namespace ceres { }’
43 | namespace ceres {
| ^~~~~
In file included from /usr/local/include/ceres/internal/fixed_array.h:42,
from /usr/local/include/ceres/internal/array_selector.h:38,
from /usr/local/include/ceres/internal/autodiff.h:147,
from /usr/local/include/ceres/autodiff_cost_function.h:130,
from /usr/local/include/ceres/ceres.h:37,
from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/ceres_optimizer.hpp:19,
from /home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:12:
/home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:275:55: error: ‘poses’ was not declared in this scope
275 | CHECK(ceres::optimizer::ReadG2oFile(outFilename, &poses, &constraints))
| ^~~~~
/home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:275:63: error: ‘constraints’ was not declared in this scope; did you mean ‘Constraint3d’?
275 | CHECK(ceres::optimizer::ReadG2oFile(outFilename, &poses, &constraints))
| ^~~
/home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:278:11: error: reference to ‘ceres’ is ambiguous
278 | CHECK(ceres::optimizer::OutputPoses("poses_original.txt", poses))
| ^~~~~
In file included from /usr/local/include/g2o/autodiff/fixed_array.h:41,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:36,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/slam3d/edge_se3.h:30,
from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/graph_construction.hpp:16,
from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/ceres_optimizer.hpp:23,
from /home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:12:
/usr/local/include/g2o/autodiff/memory.h:44:11: note: candidates are: ‘namespace g2o::ceres { }’
44 | namespace ceres {
| ^~~~~
In file included from /usr/local/include/ceres/internal/fixed_array.h:41,
from /usr/local/include/ceres/internal/array_selector.h:38,
from /usr/local/include/ceres/internal/autodiff.h:147,
from /usr/local/include/ceres/autodiff_cost_function.h:130,
from /usr/local/include/ceres/ceres.h:37,
from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/ceres_optimizer.hpp:19,
from /home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:12:
/usr/local/include/ceres/internal/memory.h:43:11: note: ‘namespace ceres { }’
43 | namespace ceres {
| ^~~~~
make[2]: [src/graph_optimization/CMakeFiles/graph_construction.dir/build.make:63：src/graph_optimization/CMakeFiles/graph_construction.dir/src/graph_construction.cpp.o] 错误 1
make[1]: [CMakeFiles/Makefile2:347：src/graph_optimization/CMakeFiles/graph_construction.dir/all] 错误 2
make[1]: 正在等待未完成的任务....
make[2]: [src/graph_optimization/CMakeFiles/ceres_optimizer.dir/build.make:63：src/graph_optimization/CMakeFiles/ceres_optimizer.dir/src/ceres_optimizer.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:292：src/graph_optimization/CMakeFiles/ceres_optimizer.dir/all] 错误 2
lbhqw
commented
2 months ago | thank you for your suggestion,but i meet another problem ,sorry to trouble you again!
[ 78%] Built target read_auv_data
In file included from /home/l/bathymetric_slam/src/registration/include/registration/gicp_reg.hpp:25,
from /home/l/bathymetric_slam/src/registration/src/gicp_reg.cpp:12:
/usr/include/pcl-1.10/pcl/features/from_meshes.h: In function ‘void pcl::features::computeApproximateCovariances(const pcl::PointCloud |
Eigen::Vector3d normal (normals.points[i].normal_x, | ^ | io In file included from /home/l/bathymetric_slam/src/registration/include/registration/gicp_reg.hpp:27, from /home/l/bathymetric_slam/src/registration/src/gicp_reg.cpp:12: /home/l/bathymetric_slam/src/submaps_tools/include/submaps_tools/submaps.hpp: In constructor ‘MapObj::MapObj(const DRNoise&, PointCloudT&)’: /home/l/bathymetric_slam/src/submaps_tools/include/submaps_tools/submaps.hpp:80:50: warning: unused parameter ‘map_pcl’ [-Wunused-parameter] 80 | MapObj(const DRNoise& dr_noise, PointCloudT& map_pcl) : SubmapObj(dr_noise) {}; | gicp_.setSourceCovariances(covs_src_ptr); | ^ |
|
|---|---|---|---|---|---|---|---|
| CovsVecPtr {aka std::shared_ptr<std::vector<Eigen::Matrix<double, 3, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 3> > > >} |
| In file included from /home/l/bathymetric_slam/src/registration/include/registration/gicp_reg.hpp:18, from /home/l/bathymetric_slam/src/registration/src/gicp_reg.cpp:12: /usr/include/pcl-1.10/pcl/registration/gicp.h:155:54: note: initializing argument 1 of ‘void pcl::GeneralizedIterativeClosestPoint<PointSource, PointTarget>::setSourceCovariances(const MatricesVectorPtr&) [with PointSource = pcl::PointXYZ; PointTarget = pcl::PointXYZ; pcl::GeneralizedIterativeClosestPoint<PointSource, PointTarget>::MatricesVectorPtr = boost::shared_ptr<std::vector<Eigen::Matrix<double, 3, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 3> > > >]’ 155 | setSourceCovariances (const MatricesVectorPtr& covariances) | gicp_.setTargetCovariances(covs_trg_ptr); | ^ |
|
|---|---|---|---|---|
| CovsVecPtr {aka std::shared_ptr<std::vector<Eigen::Matrix<double, 3, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 3> > > >} |
In file included from /home/l/bathymetric_slam/src/registration/include/registration/gicp_reg.hpp:18,
from /home/l/bathymetric_slam/src/registration/src/gicp_reg.cpp:12:
/usr/include/pcl-1.10/pcl/registration/gicp.h:176:54: note: initializing argument 1 of ‘void pcl::GeneralizedIterativeClosestPoint<PointSource, PointTarget>::setTargetCovariances(const MatricesVectorPtr&) [with PointSource = pcl::PointXYZ; PointTarget = pcl::PointXYZ; pcl::GeneralizedIterativeClosestPoint<PointSource, PointTarget>::MatricesVectorPtr = boost::shared_ptr<std::vector<Eigen::Matrix<double, 3, 3>, Eigen::aligned_allocator<Eigen::Matrix<double, 3, 3> > > >]’
176 | setTargetCovariances (const MatricesVectorPtr& covariances)
| ~~~~~^~~
make[2]: [src/registration/CMakeFiles/gicp_registration.dir/build.make:63：src/registration/CMakeFiles/gicp_registration.dir/src/gicp_reg.cpp.o] 错误 1
make[1]: [CMakeFiles/Makefile2:405：src/registration/CMakeFiles/gicp_registration.dir/all] 错误 2
make: *** [Makefile:130：all] 错误 2
home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:274:5: error: reference to ‘ceres’ is ambiguous 274 | ceres::optimizer::VectorOfConstraints constraints; | ^~~~~ In file included from /usr/local/include/g2o/autodiff/fixed_array.h:41, from /usr/local/include/g2o/core/base_fixed_sized_edge.h:36, from /usr/local/include/g2o/core/base_binary_edge.h:30, from /usr/local/include/g2o/types/slam3d/edge_se3.h:30, from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/graph_construction.hpp:16, from /home/l/bathymetric_slam/src/graph_optimization/include/graph_optimization/ceres_optimizer.hpp:23, from /home/l/bathymetric_slam/src/graph_optimization/src/ceres_optimizer.cpp:12: