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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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gtsam symbol error #50

Closed Neoyning closed 1 year ago

Neoyning commented 1 year ago

Hi there, after running the executable dmvio_dataset, I got the following error. GTSAM 4.2.0 is installed in a specific path and linked to the project as follows,

find_package(GTSAM 4.2.0 EXACT REQUIRED PATHS "/home/neoy/alter_lib" NO_DEFAULT_PATH)

./dmvio_dataset ./dmvio_dataset: Symbol _ZTVN5gtsam6FactorE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol_ZTVN5gtsam16NoiseModelFactorE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol _ZTVN5gtsam13HessianFactorE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol_ZTVN5gtsam20NonlinearFactorGraphE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol _ZTVN5gtsam14JacobianFactorE' has different size in shared object, consider re-linking ./dmvio_dataset: Symbol_ZTVN5gtsam9ImuFactorE' has different size in shared object, consider re-linking ./dmvio_dataset: symbol lookup error: ./dmvio_dataset: undefined symbol: _ZN5gtsam14JacobianFactorC1EmRKN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEERKNS2_IdLin1ELi1ELi0ELin1ELi1EEERKN5boost10shared_ptrINS_10noiseModel8DiagonalEEE

Does anyone know how to fix it? Thanks!

lukasvst commented 1 year ago

You can try deleting the build folders for both DM-VIO and GTSAM, and rebuild them. (Also run make sure to run sudo make install in the gtsam build dir after building and before building DM-VIO). Otherwise, make sure that you have only one version of GTSAM installed on your machine.

Neoyning commented 1 year ago

Thanks! By keeping just one version of GTSAM, the executable is properly running~

I installed two versions of GTSAM (4.3.0 and 4.2.0). GTSAM 4.3.0 was installed by 'sudo make install' with the default installation folder "/usr/local/..", GTSAM 4.2.0 was installed by 'make install' in my specified folder.

After I uninstall GTSAM 4.3.0 by 'sudo xargs rm < install_manifest.txt' in its build folder. And the add the "lib folder of the specified install folder" to dynamic library path($LD_LIBRARY_PATH) . The executable dmvio_dataset now can properly run in TUM-VI dataset.

Thanks again for your help!