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lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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undefined reference to `boost::system::generic_category()' #35

Open kurosh-z opened 1 year ago

kurosh-z commented 1 year ago

make -j8 gives the following errors :

In file included from /home/kurosh/repos/dm-vio/src/dso/util/NumType.h:29, from /home/kurosh/repos/dm-vio/src/dso/IOWrapper/Output3DWrapper.h:33, from /home/kurosh/repos/dm-vio/src/main_dmvio_dataset.cpp:36: /home/kurosh/repos/dm-vio/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here 35 | typedef SE3Group<double> SE3 EIGEN_DEPRECATED; | ^~~ In file included from /home/kurosh/repos/dm-vio/src/main_dmvio_dataset.cpp:54: /home/kurosh/repos/dm-vio/src/dso/IOWrapper/Pangolin/PangolinDSOViewer.h:85:48: warning: ‘Sophus::SE3’ is deprecated [-Wdeprecated-declarations] 85 | void addGTCamPose(const Sophus::SE3& gtPose); | ^ In file included from /home/kurosh/repos/dm-vio/src/dso/util/NumType.h:29, from /home/kurosh/repos/dm-vio/src/dso/IOWrapper/Output3DWrapper.h:33, from /home/kurosh/repos/dm-vio/src/main_dmvio_dataset.cpp:36: /home/kurosh/repos/dm-vio/thirdparty/Sophus/sophus/se3.hpp:35:26: note: declared here 35 | typedef SE3Group<double> SE3 EIGEN_DEPRECATED; | ^~~ [ 98%] Linking CXX executable bin/dmvio_dataset /usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o: in functionboost::thread_exception::thread_exception(int, char const)': /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference toboost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference toboost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o:/usr/local/include/boost/thread/exceptions.hpp:51: more undefined references toboost::system::system_category()' follow /usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o: in function _GLOBAL__sub_I__Z6gtFileB5cxx11': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: CMakeFiles/dmvio_dataset.dir/src/main_dmvio_dataset.cpp.o: in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in functionboost::thread_exception::thread_exception(int, char const)': /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in function boost::condition_error::condition_error(int, char const*)': /usr/local/include/boost/thread/exceptions.hpp:84: undefined reference toboost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:84: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o):/usr/local/include/boost/thread/exceptions.hpp:51: more undefined references toboost::system::system_category()' follow /usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in function _GLOBAL__sub_I__ZN3dso12FrameHessian15instanceCounterE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(FullSystem.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(HessianBlocks.cpp.o): in function_GLOBALsub_IZN3dso12PointHessianC2EPKNS_13ImmaturePointEPNS_12CalibHessianE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(HessianBlocks.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(EnergyFunctional.cpp.o): in function `_GLOBALsub_IZN3dso15EFAdjointsValidE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(EnergyFunctional.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(EnergyFunctionalStructs.cpp.o): in function _GLOBAL__sub_I__ZN3dso10EFResidual9takeDataFEv': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(EnergyFunctionalStructs.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(GravityInitializer.cpp.o): in function_GLOBALsub_I__ZN5dmvio18GravityInitializerC2EiRKNS_14IMUCalibrationE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(GravityInitializer.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUSettings.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio14IMUCalibrationC2Ev': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUSettings.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(BAGTSAMIntegration.cpp.o): in function_GLOBALsub_I__ZN5dmvio18BAGTSAMIntegrationC2ESt10unique_ptrINS_8BAGraphsESt14default_deleteIS2_EES1_INS_18PoseTransformationES3_IS6_EERKNS_24GTSAMIntegrationSettingsEPN3dso12CalibHessianE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(BAGTSAMIntegration.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMULogic.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio14CoarseIMULogicC2ESt10unique_ptrINS_18PoseTransformationESt14default_deleteIS2_EEN5boost10shared_ptrIN5gtsam20PreintegrationParamsEEERKNS_14IMUCalibrationERNS_11IMUSettingsE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMULogic.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(BAIMULogic.cpp.o): in function_GLOBALsub_IZN5dmvio10BAIMULogicC2EPNS_24PreintegrationProviderBAEPNS_18BAGTSAMIntegrationERKNS_14IMUCalibrationERNS_11IMUSettingsE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(BAIMULogic.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(Marginalization.cpp.o): in function `_GLOBALsub_IZN5dmvio14marginalizeOutERKN5gtsam20NonlinearFactorGraphERKNS0_6ValuesERKSt6vectorImN3tbb13tbb_allocatorImEEESt8functionIFvRKNS0_7FastSetImEEEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(Marginalization.cpp.o): in function__static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(PoseTransformationIMU.cpp.o): in function `_GLOBALsub_IZN5dmvio17TransformDSOToIMUC2ERKN5gtsam5Pose3ESt10shared_ptrIbES6_S6_bi': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(PoseTransformationIMU.cpp.o): in function__static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializer.cpp.o): in function `_GLOBALsub_IZN5dmvio14IMUInitializerC2ENSt7cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost10shared_ptrIN5gtsam20PreintegrationParamsEEERKNS_14IMUCalibrationERNS_15IMUInitSettingsEPNS_28DelayedMarginalizationGraphsEbSt8functionIFvRKNS9_6ValuesEbEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializer.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUUtils.cpp.o): in function `_GLOBAL__sub_IZN5dmvio16integrateIMUDataERKSt6vectorINS_14IMUMeasurementESaIS1_EERN5gtsam28PreintegratedImuMeasurementsE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUUtils.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitSettings.cpp.o): in function `_GLOBAL__sub_IZN5dmvio15IMUInitSettings12registerArgsERNS_12SettingsUtilENSt7cxx1112basic_stringIcSt11char_traitsIcESaIcEEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitSettings.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(GTSAMUtils.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio24augmentedHessianFromPairERKSt4pairIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEENS2_IdLin1ELi1ELi0ELin1ELi1EEEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(GTSAMUtils.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(DelayedMarginalization.cpp.o): in function_GLOBALsub_IZN5dmvio28DelayedMarginalizationGraphsC2Eii': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(DelayedMarginalization.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(FEJValues.cpp.o): in function `_GLOBALsub_IZN5dmvio17setFEJMapForGraphERN5gtsam20NonlinearFactorGraphERKSt10shared_ptrINS_9FEJValuesEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(FEJValues.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerLogic.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio19IMUInitializerLogicC2ENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEN5boost10shared_ptrIN5gtsam20PreintegrationParamsEEERKNS_14IMUCalibrationERNS_15IMUInitSettingsEPNS_28DelayedMarginalizationGraphsEbSt8functionIFvRKNS9_6ValuesEbEERNS_19IMUInitStateChangerE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerLogic.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerTransitions.cpp.o): in function_GLOBALsub_IZN5dmvio21createTransitionModelENS_18InitTransitionModeERNS_19IMUInitializerLogicE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerTransitions.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(AugmentedScatter.cpp.o): in function `_GLOBALsub_IZN5dmvio16AugmentedScatterC2ERKN5gtsam19GaussianFactorGraphEN5boost8optionalIRKNS1_8OrderingEEERKSt3mapImmSt4lessImESaISt4pairIKmmEEE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(AugmentedScatter.cpp.o): in function__static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMUInitOptimizer.cpp.o): in function boost::thread_exception::thread_exception(int, char const*)': /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference toboost::system::system_category()' /usr/bin/ld: /usr/local/include/boost/thread/exceptions.hpp:51: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMUInitOptimizer.cpp.o): in function_GLOBALsub_IZN5dmvio22CoarseIMUInitOptimizerC2ESt10shared_ptrINS_18PoseTransformationEERKNS_14IMUCalibrationERKNS_30CoarseIMUInitOptimizerSettingsE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(CoarseIMUInitOptimizer.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerStates.cpp.o): in function _GLOBAL__sub_I__ZN5dmvio32DefaultActiveIMUInitializerStateC2ERNS_19IMUInitializerLogicERNS_20StateTransitionModelE': /usr/local/include/boost/system/error_code.hpp:221: undefined reference toboost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(IMUInitializerStates.cpp.o): in function __static_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference toboost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference to boost::system::system_category()' /usr/bin/ld: lib/libdmvio.a(KeyFrameDisplay.cpp.o): in function_GLOBAL__sub_IZN3dso6IOWrap15KeyFrameDisplayC2Ev': /usr/local/include/boost/system/error_code.hpp:221: undefined reference to boost::system::generic_category()' /usr/bin/ld: lib/libdmvio.a(KeyFrameDisplay.cpp.o): in functionstatic_initialization_and_destruction_0': /usr/local/include/boost/system/error_code.hpp:222: undefined reference to boost::system::generic_category()' /usr/bin/ld: /usr/local/include/boost/system/error_code.hpp:223: undefined reference toboost::system::system_category()' collect2: error: ld returned 1 exit status make[2]: [CMakeFiles/dmvio_dataset.dir/build.make:173: bin/dmvio_dataset] Error 1 make[1]: [CMakeFiles/Makefile2:189: CMakeFiles/dmvio_dataset.dir/all] Error 2 make: *** [Makefile:130: all] Error 2 ` Any suggestion on what could be causing this? I'm running it on Ubuntu 20.04 Desktop on a Virtual machine and the Boost version 1.6.0 as the documentation recommended.

lukasvst commented 1 year ago

Boost version 1.6.0 is only recommended for MacOS builds. On Ubuntu 18.04 and 20.04 you can just use the default boost version installed with sudo apt install libboost-all-dev. On my Ubuntu 20.04 system, boost 1.71 is installed and works normally.

Can you try compiling with the default boost version again (maybe uninstall boost 1.6.0 and re-build the dependent libraries like Pangolin and GTSAM first), and let me know if it works?