building error when make

[f1r1o1n1t1]

~/softwareSetup/pl-slam/build$ make Scanning dependencies of target plslam [ 7%] Building CXX object CMakeFiles/plslam.dir/src/config.cpp.o [ 15%] Building CXX object CMakeFiles/plslam.dir/src/auxiliar.cpp.o [ 23%] Building CXX object CMakeFiles/plslam.dir/src/pinholeStereoCamera.cpp.o [ 30%] Building CXX object CMakeFiles/plslam.dir/src/stereoFeatures.cpp.o [ 38%] Building CXX object CMakeFiles/plslam.dir/src/stereoFrame.cpp.o [ 46%] Building CXX object CMakeFiles/plslam.dir/src/stereoFrameHandler.cpp.o [ 53%] Building CXX object CMakeFiles/plslam.dir/src/mapHandler.cpp.o In file included from /usr/include/mrpt/base/include/mrpt/system/os.h:49:0, from /usr/include/mrpt/base/include/mrpt/utils/utils_defs.h:42, from /usr/include/mrpt/base/include/mrpt/utils/CTicTac.h:38, from /home/crazy/softwareSetup/pl-slam/include/mapHandler.h:52, from /home/crazy/softwareSetup/pl-slam/src/mapHandler.cpp:22: /usr/include/mrpt/base/include/mrpt/utils/types.h:61:3: error: #error FATAL ERROR: MRPT headers must be included before Eigen headers.

error FATAL ERROR: MRPT headers must be included before Eigen headers.

^ In file included from /usr/include/mrpt/base/include/mrpt/utils/types.h:75:0, from /usr/include/mrpt/base/include/mrpt/system/os.h:49, from /usr/include/mrpt/base/include/mrpt/utils/utils_defs.h:42, from /usr/include/mrpt/base/include/mrpt/utils/CTicTac.h:38, from /home/crazy/softwareSetup/pl-slam/include/mapHandler.h:52, from /home/crazy/softwareSetup/pl-slam/src/mapHandler.cpp:22: /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:91:103: error: no ‘void Eigen::MatrixBase::eigenVectors(MATRIX1&, MATRIX2&) const’ member function declared in class ‘Eigen::MatrixBase’ EIGEN_STRONG_INLINE void Eigen::MatrixBase::eigenVectors( MATRIX1 & eVecs, MATRIX2 & eVals ) const ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:104:106: error: no ‘void Eigen::MatrixBase::eigenVectorsVec(MATRIX1&, VECTOR1&) const’ member function declared in class ‘Eigen::MatrixBase’ EIGEN_STRONG_INLINE void Eigen::MatrixBase::eigenVectorsVec( MATRIX1 & eVecs, VECTOR1 & eVals ) const ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:130:112: error: no ‘void Eigen::MatrixBase::eigenVectorsSymmetric(MATRIX1&, MATRIX2&) const’ member function declared in class ‘Eigen::MatrixBase’ EIGEN_STRONG_INLINE void Eigen::MatrixBase::eigenVectorsSymmetric( MATRIX1 & eVecs, MATRIX2 & eVals ) const ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:143:115: error: no ‘void Eigen::MatrixBase::eigenVectorsSymmetricVec(MATRIX1&, VECTOR1&) const’ member function declared in class ‘Eigen::MatrixBase’ EIGEN_STRONG_INLINE void Eigen::MatrixBase::eigenVectorsSymmetricVec( MATRIX1 & eVecs, VECTOR1 & eVals ) const ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:153:104: error: no ‘bool Eigen::MatrixBase::fromMatlabStringFormat(const string&, bool)’ member function declared in class ‘Eigen::MatrixBase’ bool Eigen::MatrixBase::fromMatlabStringFormat(const std::string &s, bool dumpErrorMsgToStdErr) ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:248:86: error: no ‘std::string Eigen::MatrixBase::inMatlabFormat(std::size_t) const’ member function declared in class ‘Eigen::MatrixBase’ std::string Eigen::MatrixBase::inMatlabFormat(const size_t decimal_digits) const ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:269:4: error: no ‘void Eigen::MatrixBase::saveToTextFile(const string&, mrpt::math::TMatrixTextFileFormat, bool, const string&) const’ member function declared in class ‘Eigen::MatrixBase’ ) const ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:330:74: error: no ‘void Eigen::MatrixBase::loadFromTextFile(const string&)’ member function declared in class ‘Eigen::MatrixBase’ void Eigen::MatrixBase::loadFromTextFile(const std::string &file) ^ /usr/include/mrpt/base/include/mrpt/math/eigen_plugins_impl.h:338:66: error: no ‘void Eigen::MatrixBase::loadFromTextFile(std::istream&)’ member function declared in class ‘Eigen::MatrixBase’ void Eigen::MatrixBase::loadFromTextFile(std::istream &f) ^ /home/crazy/softwareSetup/pl-slam/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationEssGraphG2O()’: /home/crazy/softwareSetup/pl-slam/src/mapHandler.cpp:4044:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated (declared at /opt/ros/indigo/include/g2o/types/slam3d/vertex_se3.h:119) [-Wdeprecated-declarations] g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat(); ^ /home/crazy/softwareSetup/pl-slam/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationCovGraphG2O()’: /home/crazy/softwareSetup/pl-slam/src/mapHandler.cpp:4273:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated (declared at /opt/ros/indigo/include/g2o/types/slam3d/vertex_se3.h:119) [-Wdeprecated-declarations] g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat(); ^ make[2]: [CMakeFiles/plslam.dir/src/mapHandler.cpp.o] 错误 1 make[1]: [CMakeFiles/plslam.dir/all] 错误 2 make: *** [all] 错误 2

someone knows why?

[f1r1o1n1t1]

I also build this project in another folder: package_dir/src/pl-slam/build$ make Scanning dependencies of target plslam [ 7%] Building CXX object CMakeFiles/plslam.dir/src/config.cpp.o [ 15%] Building CXX object CMakeFiles/plslam.dir/src/auxiliar.cpp.o [ 23%] Building CXX object CMakeFiles/plslam.dir/src/pinholeStereoCamera.cpp.o [ 30%] Building CXX object CMakeFiles/plslam.dir/src/stereoFeatures.cpp.o [ 38%] Building CXX object CMakeFiles/plslam.dir/src/stereoFrame.cpp.o [ 46%] Building CXX object CMakeFiles/plslam.dir/src/stereoFrameHandler.cpp.o [ 53%] Building CXX object CMakeFiles/plslam.dir/src/mapHandler.cpp.o /home/crazy/rosbuild_ws/package_dir/src/pl-slam/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationEssGraphG2O()’: /home/crazy/rosbuild_ws/package_dir/src/pl-slam/src/mapHandler.cpp:4044:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated (declared at /opt/ros/indigo/include/g2o/types/slam3d/vertex_se3.h:119) [-Wdeprecated-declarations] g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat(); ^ /home/crazy/rosbuild_ws/package_dir/src/pl-slam/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationCovGraphG2O()’: /home/crazy/rosbuild_ws/package_dir/src/pl-slam/src/mapHandler.cpp:4273:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated (declared at /opt/ros/indigo/include/g2o/types/slam3d/vertex_se3.h:119) [-Wdeprecated-declarations] g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat(); ^ [ 61%] Building CXX object CMakeFiles/plslam.dir/src/mapFeatures.cpp.o [ 69%] Building CXX object CMakeFiles/plslam.dir/src/keyFrame.cpp.o [ 76%] Building CXX object CMakeFiles/plslam.dir/src/voScene.cpp.o [ 84%] Building CXX object CMakeFiles/plslam.dir/src/slamScene.cpp.o Linking CXX shared library ../lib/libplslam.so [ 84%] Built target plslam Scanning dependencies of target plslam_dataset [ 92%] Building CXX object CMakeFiles/plslam_dataset.dir/app/plslam_dataset.cpp.o Linking CXX executable plslam_dataset /usr/bin/ld: warning: libopencv_core.so.2.4, needed by /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../../lib/libmrpt-base.so, may conflict with libopencv_core.so.3.2 ../lib/libplslam.so：对‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::Solver*)’未定义的引用 collect2: error: ld returned 1 exit status make[2]: [plslam_dataset] 错误 1 make[1]: [CMakeFiles/plslam_dataset.dir/all] 错误 2 make: *** [all] 错误 2 crazy@crazy-ThinkPad-T460:~/rosbuild_ws/package_dir/src/pl-slam/build$

[chaiein]

follow the synatax of the g20::Optimization algorithm as mentioned in g2o/examples/ba/ba_sba.cpp

[YiChenCityU]

@f1r1o1n1t1 have you solved the mrpt problem when make?

[xmupamizq]

@f1r1o1n1t1 @YiChenCityU have you solved the MRPT problem when make? I have also met.please.

[liangsongLee]

@xmupamizq @YiChenCityU @f1r1o1n1t1 have you solved the MRPT problem when make? I have also met.please.

[xmupamizq]

I have solved.

发自我的 iPhone

在 2018年3月27日，20:10，liangsongLee notifications@github.com 写道：

@xmupamizq @YiChenCityU @f1r1o1n1t1 have you solved the MRPT problem when make? I have also met.please.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[stdmkmehp]

@xmupamizq Could you pls tell me more details about how to solve this problem? Thank you very much!

[xmupamizq]

Can you speak Chinese?

发自我的 iPhone

在 2018年3月28日，15:13，waylon notifications@github.com 写道：

@xmupamizq Could you pls tell me more details about how to solve this problem? Thank you very much!

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

[xmupamizq]

@stdmkmehp Hi, I'll reply to you in e-mail

[wk199]

@xmupamizq 请问你用的mrpt是哪个版本啊？我这里和mrpt相关的问题好多

[xmupamizq]

@w1019220367 我是直接用sudo apt-get install libmrpt-dev来安装mrpt的。

[fengchen122959]

I have solved. 发自我的 iPhone … 在 2018年3月27日，20:10，liangsongLee @.***> 写道： @xmupamizq @YiChenCityU @f1r1o1n1t1 have you solved the MRPT problem when make? I have also met.please. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or mute the thread.

I met the error while making pl-slam ,have you solved it? thanks

/usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:30:64: error: type/value mismatch at argument 4 in template parameter list for ‘template<class Derived, class Scalar, class OtherScalar, bool EnableIt> struct Eigen::internal::special_scalar_op_base’ EigenBase > ^ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:30:64: note: expected a constant of type ‘bool’, got ‘Eigen::EigenBase’ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:143:94: error: type/value mismatch at argument 4 in template parameter list for ‘template<class Derived, class Scalar, class OtherScalar, bool EnableIt> struct Eigen::internal::special_scalar_op_base’ typedef internal::special_scalar_op_base<Derived, Scalar, RealScalar, EigenBase > Base; ^ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:143:94: note: expected a constant of type ‘bool’, got ‘Eigen::EigenBase’ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:144:11: error: ‘Base’ is not a class, namespace, or enumeration using Base::operator*;

[Epiphany-f]

@xmupamizq 我编译pl-slam的时候出现了/usr/local/include/mrpt/base/include/mrpt/math/lightweight_geom_data.h:775:50: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] TLine2D(const TPoint2D &p1,const TPoint2D &p2) throw(std::logic_error); ^~~~~ /usr/local/include/mrpt/base/include/mrpt/math/lightweight_geom_data.h:849:50: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] TLine3D(const TPoint3D &p1,const TPoint3D &p2) throw(std::logic_error); ^~~~~ /usr/local/include/mrpt/base/include/mrpt/math/lightweight_geom_data.h:941:68: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] TPlane(const TPoint3D &p1,const TPoint3D &p2,const TPoint3D &p3) throw(std::logic_error); ^~~~~ /usr/local/include/mrpt/base/include/mrpt/math/lightweight_geom_data.h:946:48: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] TPlane(const TPoint3D &p1,const TLine3D &r2) throw(std::logic_error); ^~~~~ /usr/local/include/mrpt/base/include/mrpt/math/lightweight_geom_data.h:951:47: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] TPlane(const TLine3D &r1,const TLine3D &r2) throw(std::logic_error); ^~~~~ In file included from /usr/local/include/mrpt/opengl/include/mrpt/opengl/COpenGLViewport.h:14:0, from /usr/local/include/mrpt/opengl/include/mrpt/opengl/COpenGLScene.h:13, from /usr/local/include/mrpt/opengl/include/mrpt/opengl.h:17, from /home/f/pl-slam-master/include/slamScene.h:26, from /home/f/pl-slam-master/src/slamScene.cpp:23: /usr/local/include/mrpt/base/include/mrpt/utils/CImage.h:942:39: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated] void makeSureImageIsLoaded() const throw (std::exception,utils::CExceptionExternalImageNotFound ); ^~~~~ In file included from /usr/local/include/g2o/core/sparse_block_matrix.h:43:0, from /usr/local/include/g2o/core/sparse_optimizer.h:34, from /home/f/pl-slam-master/include/mapHandler.h:36, from /home/f/pl-slam-master/src/mapHandler.cpp:23: /usr/local/include/g2o/core/matrix_structure.h:57:19: error: ‘std::string_view’ has not been declared bool write(std::string_view filename) const; ^~~ In file included from /usr/local/include/g2o/core/sparse_block_matrix.h:43:0, from /usr/local/include/g2o/core/sparse_optimizer.h:34, from /home/f/pl-slam-master/include/mapHandler.h:36, from /home/f/pl-slam-master/include/slamScene.h:44, from /home/f/pl-slam-master/src/slamScene.cpp:23: /usr/local/include/g2o/core/matrix_structure.h:57:19: error: ‘std::string_view’ has not been declared bool write(std::string_view filename) const; ^~~ /home/f/pl-slam-master/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationEssGraphG2O()’: /home/f/pl-slam-master/src/mapHandler.cpp:4079:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated [-Wdeprecated-declarations] g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat(); ^ In file included from /usr/local/include/g2o/core/base_vertex.h:37:0, from /usr/local/include/g2o/types/slam3d/vertex_se3.h:31, from /home/f/pl-slam-master/include/mapHandler.h:34, from /home/f/pl-slam-master/src/mapHandler.cpp:23: /usr/local/include/g2o/types/slam3d/vertex_se3.h:111:11: note: declared here SE3Quat G2O_ATTRIBUTE_DEPRECATED(estimateAsSE3Quat() const) { ^ /home/f/pl-slam-master/src/mapHandler.cpp: In member function ‘bool PLSLAM::MapHandler::loopClosureOptimizationCovGraphG2O()’: /home/f/pl-slam-master/src/mapHandler.cpp:4309:59: warning: ‘g2o::SE3Quat g2o::VertexSE3::estimateAsSE3Quat() const’ is deprecated [-Wdeprecated-declarations] g2o::SE3Quat Tiw_corr = v_se3->estimateAsSE3Quat(); ^ In file included from /usr/local/include/g2o/core/base_vertex.h:37:0, from /usr/local/include/g2o/types/slam3d/vertex_se3.h:31, from /home/f/pl-slam-master/include/mapHandler.h:34, from /home/f/pl-slam-master/src/mapHandler.cpp:23: /usr/local/include/g2o/types/slam3d/vertex_se3.h:111:11: note: declared here SE3Quat G2O_ATTRIBUTE_DEPRECATED(estimateAsSE3Quat() const) { ^ CMakeFiles/plslam.dir/build.make:131: recipe for target 'CMakeFiles/plslam.dir/src/slamScene.cpp.o' failed make[2]: [CMakeFiles/plslam.dir/src/slamScene.cpp.o] Error 1 CMakeFiles/plslam.dir/build.make:75: recipe for target 'CMakeFiles/plslam.dir/src/mapHandler.cpp.o' failed make[2]: [CMakeFiles/plslam.dir/src/mapHandler.cpp.o] Error 1 CMakeFiles/Makefile2:111: recipe for target 'CMakeFiles/plslam.dir/all' failed make[1]: [CMakeFiles/plslam.dir/all] Error 2 Makefile:90: recipe for target 'all' failed make: [all] Error 2， 你能帮我看看吗？

[BTREE-C802]

您好，我叫旷鸿章，我已经收到了你的邮件。谢谢！