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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 11 months ago

Neoyning commented 11 months 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 11 months 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 11 months 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!