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uoip / g2opy

Python binding of SLAM graph optimization framework g2o
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Error in making g2opy File #35

Closed ajinkyabedekar closed 4 years ago

ajinkyabedekar commented 4 years ago

While using cmake .. command, the output received is as follows:

ajinkya@DESKTOP-HUJCKK6:~$ cd g2opy/build/
ajinkya@DESKTOP-HUJCKK6:~/g2opy/build$ cmake ..
-- Compiling on Unix
-- Found CHOLMOD and its dependencies
-- Building LGPL code as static library (affects license of the binary)
CMake Warning (dev) at /home/linuxbrew/.linuxbrew/Cellar/cmake/3.15.5/share/cmake/Modules/FindOpenGL.cmake:275 (message):
  Policy CMP0072 is not set: FindOpenGL prefers GLVND by default when
  available.  Run "cmake --help-policy CMP0072" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  FindOpenGL found both a legacy GL library:

    OPENGL_gl_LIBRARY: /usr/lib/x86_64-linux-gnu/libGL.so

  and GLVND libraries for OpenGL and GLX:

    OPENGL_opengl_LIBRARY: /usr/lib/x86_64-linux-gnu/libOpenGL.so
    OPENGL_glx_LIBRARY: /usr/lib/x86_64-linux-gnu/libGLX.so

  OpenGL_GL_PREFERENCE has not been set to "GLVND" or "LEGACY", so for
  compatibility with CMake 3.10 and below the legacy GL library will be used.
Call Stack (most recent call first):
  CMakeLists.txt:139 (FIND_PACKAGE)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Compiling with OpenGL support
-- Compiling with GCC
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ajinkya/g2opy/build
ajinkya@DESKTOP-HUJCKK6:~/g2opy/build$

While running make -j8 command, I am getting the following error:

ajinkya@DESKTOP-HUJCKK6:~$ cd g2opy/build/
ajinkya@DESKTOP-HUJCKK6:~/g2opy/build$ make -j8
[  1%] Built target opengl_helper
[  6%] Built target freeglut_minimal
[  8%] Built target stuff
[ 34%] Built target csparse
[ 35%] Built target csparse_extension
[ 48%] Built target core
[ 49%] Built target solver_pcg
[ 50%] Built target solver_dense
[ 51%] Built target solver_csparse
[ 52%] Built target solver_structure_only
[ 53%] Built target solver_cholmod
[ 61%] Built target types_slam2d
[ 62%] Built target solver_eigen
[ 64%] Built target solver_slam2d_linear
[ 73%] Built target types_slam3d
[ 77%] Built target types_data
[ 80%] Built target types_sclam2d
[ 82%] Built target types_sba
[ 87%] Built target types_slam2d_addons
[ 93%] Built target types_slam3d_addons
[ 94%] Built target test_isometry3d_mappings
[ 96%] Built target test_mat2quat_jacobian
[ 96%] Built target test_slam3d_jacobian
[ 97%] Built target types_icp
[ 98%] Built target types_sim3
[ 99%] Built target contrib
[100%] Building CXX object python/CMakeFiles/g2o.dir/g2o.cpp.o
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:14: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
              ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:14: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
              ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:34: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
                                  ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:14: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
              ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:14: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
              ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:82:34: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
     decltype(PyThread_create_key()) tstate = 0; // Usually an int but a long on Cygwin64 with Python 3.x
                                  ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h: In function 'pybind11::detail::internals& pybind11::detail::get_internals()':
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:167:33: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
         internals_ptr->tstate = PyThread_create_key();
                                 ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:167:33: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
         internals_ptr->tstate = PyThread_create_key();
                                 ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:167:53: warning: 'int PyThread_create_key()' is deprecated [-Wdeprecated-declarations]
         internals_ptr->tstate = PyThread_create_key();
                                                     ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:95:17: note: declared here
 PyAPI_FUNC(int) PyThread_create_key(void) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:168:9: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
         PyThread_set_key_value(internals_ptr->tstate, tstate);
         ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:168:9: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
         PyThread_set_key_value(internals_ptr->tstate, tstate);
         ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:16:0,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/internals.h:168:61: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
         PyThread_set_key_value(internals_ptr->tstate, tstate);
                                                             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In constructor 'pybind11::gil_scoped_acquire::gil_scoped_acquire()':
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1741:36: warning: 'void* PyThread_get_key_value(int)' is deprecated [-Wdeprecated-declarations]
         tstate = (PyThreadState *) PyThread_get_key_value(internals.tstate);
                                    ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:98:20: note: declared here
 PyAPI_FUNC(void *) PyThread_get_key_value(int key) Py_DEPRECATED(3.7);
                    ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1741:36: warning: 'void* PyThread_get_key_value(int)' is deprecated [-Wdeprecated-declarations]
         tstate = (PyThreadState *) PyThread_get_key_value(internals.tstate);
                                    ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:98:20: note: declared here
 PyAPI_FUNC(void *) PyThread_get_key_value(int key) Py_DEPRECATED(3.7);
                    ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1741:75: warning: 'void* PyThread_get_key_value(int)' is deprecated [-Wdeprecated-declarations]
         tstate = (PyThreadState *) PyThread_get_key_value(internals.tstate);
                                                                           ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:98:20: note: declared here
 PyAPI_FUNC(void *) PyThread_get_key_value(int key) Py_DEPRECATED(3.7);
                    ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1753:13: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(internals.tstate, tstate);
             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1753:13: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(internals.tstate, tstate);
             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1753:60: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(internals.tstate, tstate);
                                                            ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In member function 'void pybind11::gil_scoped_acquire::dec_ref()':
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1792:13: warning: 'void PyThread_delete_key_value(int ' is deprecated [-Wdeprecated-declarations]
             PyThread_delete_key_value(detail::get_internals().tstate);
             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:99:18: note: declared here
 PyAPI_FUNC(void) PyThread_delete_key_value(int key) Py_DEPRECATED(3.7);
                  ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1792:13: warning: 'void PyThread_delete_key_value(int ' is deprecated [-Wdeprecated-declarations]
             PyThread_delete_key_value(detail::get_internals().tstate);
             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:99:18: note: declared here
 PyAPI_FUNC(void) PyThread_delete_key_value(int key) Py_DEPRECATED(3.7);
                  ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1792:69: warning: 'void PyThread_delete_key_value(int ' is deprecated [-Wdeprecated-declarations]
             PyThread_delete_key_value(detail::get_internals().tstate);
                                                                     ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:99:18: note: declared here
 PyAPI_FUNC(void) PyThread_delete_key_value(int key) Py_DEPRECATED(3.7);
                  ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In constructor 'pybind11::gil_scoped_release::gil_scoped_release(bool)':
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1820:17: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
                 PyThread_set_key_value(key, nullptr);
                 ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1820:17: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
                 PyThread_set_key_value(key, nullptr);
                 ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1820:52: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
                 PyThread_set_key_value(key, nullptr);
                                                    ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h: In destructor 'pybind11::gil_scoped_release::~gil_scoped_release()':
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1833:13: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(key, tstate);
             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1833:13: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(key, tstate);
             ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:1:0:
/home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:1833:47: warning: 'int PyThread_set_key_value(int, void*)' is deprecated [-Wdeprecated-declarations]
             PyThread_set_key_value(key, tstate);
                                               ^
In file included from /usr/include/python3.7m/pystate.h:11:0,
                 from /usr/include/python3.7m/traceback.h:8,
                 from /usr/include/python3.7m/Python.h:119,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/detail/common.h:111,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pytypes.h:12,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/cast.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/attr.h:13,
                 from /home/ajinkya/g2opy/EXTERNAL/pybind11/include/pybind11/pybind11.h:43,
                 from /home/ajinkya/g2opy/python/g2o.cpp:1:
/usr/include/python3.7m/pythread.h:97:17: note: declared here
 PyAPI_FUNC(int) PyThread_set_key_value(int key, void *value) Py_DEPRECATED(3.7);
                 ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:12:0:
/home/ajinkya/g2opy/python/core/eigen_types.h: In function 'void g2o::declareEigenTypes(pybind11::module&)':
/home/ajinkya/g2opy/python/core/eigen_types.h:185:82: error: no matches converting function 'x' to type 'double (class Eigen::Quaternion<double>::*)() const'
         .def("x", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::x)
                                                                                  ^
In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
                 from /home/ajinkya/g2opy/g2o/core/eigen_types.h:31,
                 from /home/ajinkya/g2opy/build/g2o/config.h:26,
                 from /home/ajinkya/g2opy/g2o/core/g2o_core_api.h:13,
                 from /home/ajinkya/g2opy/g2o/core/hyper_graph.h:40,
                 from /home/ajinkya/g2opy/python/core/hyper_graph.h:5,
                 from /home/ajinkya/g2opy/python/g2o.cpp:3:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:75:52: note: candidates are: Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType Eigen::QuaternionBase<Derived>::x() [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType = double&]
   EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType x() { return this->derived().coeffs().x(); }
                                                    ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:66:44: note:                 Eigen::QuaternionBase<Derived>::CoeffReturnType Eigen::QuaternionBase<Derived>::x() const [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::CoeffReturnType = const double&]
   EIGEN_DEVICE_FUNC inline CoeffReturnType x() const { return this->derived().coeffs().coeff(0); }
                                            ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:12:0:
/home/ajinkya/g2opy/python/core/eigen_types.h:186:82: error: no matches converting function 'y' to type 'double (class Eigen::Quaternion<double>::*)() const'
         .def("y", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::y)
                                                                                  ^
In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
                 from /home/ajinkya/g2opy/g2o/core/eigen_types.h:31,
                 from /home/ajinkya/g2opy/build/g2o/config.h:26,
                 from /home/ajinkya/g2opy/g2o/core/g2o_core_api.h:13,
                 from /home/ajinkya/g2opy/g2o/core/hyper_graph.h:40,
                 from /home/ajinkya/g2opy/python/core/hyper_graph.h:5,
                 from /home/ajinkya/g2opy/python/g2o.cpp:3:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:77:52: note: candidates are: Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType Eigen::QuaternionBase<Derived>::y() [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType = double&]
   EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType y() { return this->derived().coeffs().y(); }
                                                    ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:68:44: note:                 Eigen::QuaternionBase<Derived>::CoeffReturnType Eigen::QuaternionBase<Derived>::y() const [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::CoeffReturnType = const double&]
   EIGEN_DEVICE_FUNC inline CoeffReturnType y() const { return this->derived().coeffs().coeff(1); }
                                            ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:12:0:
/home/ajinkya/g2opy/python/core/eigen_types.h:187:82: error: no matches converting function 'z' to type 'double (class Eigen::Quaternion<double>::*)() const'
         .def("z", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::z)
                                                                                  ^
In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
                 from /home/ajinkya/g2opy/g2o/core/eigen_types.h:31,
                 from /home/ajinkya/g2opy/build/g2o/config.h:26,
                 from /home/ajinkya/g2opy/g2o/core/g2o_core_api.h:13,
                 from /home/ajinkya/g2opy/g2o/core/hyper_graph.h:40,
                 from /home/ajinkya/g2opy/python/core/hyper_graph.h:5,
                 from /home/ajinkya/g2opy/python/g2o.cpp:3:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:79:52: note: candidates are: Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType Eigen::QuaternionBase<Derived>::z() [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType = double&]
   EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType z() { return this->derived().coeffs().z(); }
                                                    ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:70:44: note:                 Eigen::QuaternionBase<Derived>::CoeffReturnType Eigen::QuaternionBase<Derived>::z() const [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::CoeffReturnType = const double&]
   EIGEN_DEVICE_FUNC inline CoeffReturnType z() const { return this->derived().coeffs().coeff(2); }
                                            ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:12:0:
/home/ajinkya/g2opy/python/core/eigen_types.h:188:82: error: no matches converting function 'w' to type 'double (class Eigen::Quaternion<double>::*)() const'
         .def("w", (double (Eigen::Quaterniond::*) () const) &Eigen::Quaterniond::w)
                                                                                  ^
In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
                 from /home/ajinkya/g2opy/g2o/core/eigen_types.h:31,
                 from /home/ajinkya/g2opy/build/g2o/config.h:26,
                 from /home/ajinkya/g2opy/g2o/core/g2o_core_api.h:13,
                 from /home/ajinkya/g2opy/g2o/core/hyper_graph.h:40,
                 from /home/ajinkya/g2opy/python/core/hyper_graph.h:5,
                 from /home/ajinkya/g2opy/python/g2o.cpp:3:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:81:52: note: candidates are: Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType Eigen::QuaternionBase<Derived>::w() [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::NonConstCoeffReturnType = double&]
   EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }
                                                    ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:72:44: note:                 Eigen::QuaternionBase<Derived>::CoeffReturnType Eigen::QuaternionBase<Derived>::w() const [with Derived = Eigen::Quaternion<double>; Eigen::QuaternionBase<Derived>::CoeffReturnType = const double&]
   EIGEN_DEVICE_FUNC inline CoeffReturnType w() const { return this->derived().coeffs().coeff(3); }
                                            ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:19:0:
/home/ajinkya/g2opy/python/core/base_unary_edge.h: At global scope:
/home/ajinkya/g2opy/python/core/base_unary_edge.h:33:40: warning: unused parameter 'm' [-Wunused-parameter]
 void declareBaseUnaryEdge(py::module & m) {
                                        ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:20:0:
/home/ajinkya/g2opy/python/core/base_binary_edge.h:40:41: warning: unused parameter 'm' [-Wunused-parameter]
 void declareBaseBinaryEdge(py::module & m) {
                                         ^
In file included from /home/ajinkya/g2opy/python/g2o.cpp:25:0:
/home/ajinkya/g2opy/python/core/linear_solver.h:38:39: warning: unused parameter 'm' [-Wunused-parameter]
 void declareLinearSolver(py::module & m) {
                                       ^
make[2]: *** [python/CMakeFiles/g2o.dir/build.make:63: python/CMakeFiles/g2o.dir/g2o.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1520: python/CMakeFiles/g2o.dir/all] Error 2
make: *** [Makefile:130: all] Error 2
ajinkya@DESKTOP-HUJCKK6:~/g2opy/build$

Can someone please help?

rancheng commented 4 years ago

are you compiling against Eigen 3.3.X?

rancheng commented 4 years ago

in Eigen 3.3.5 and above, the Eigen::Quaternion modified their interface after the update, eigen changed the return type of the function:

Eigen::Quaternion<float> q = {1,0,0,0}; // w x y z
cout << q.w() << endl;

in Quaternion.h (Eigen 3.3.7):

EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }

in Quaternion.h (Eigen 3.3.4)

EIGEN_DEVICE_FUNC inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }

the return type is a Scalar type before.

Now define of NonConstCoeffReturnType is as following:

typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
                                        Scalar&, CoeffReturnType>::type NonConstCoeffReturnType;

This is a type cast issue, what we can do is to convert the NonConstCoeffReturnType to Scalar&, unlucky I don't know how to do that yet, if anyone is familiar with this, please post your solution.

BavanthaU commented 2 years ago

This workaround fixed my problem, please check this one if you are facing this issue.

https://github.com/pybind/pybind11/issues/2058#issuecomment-693329238

Change g2opy/python/core/eigen_types.h, Line 185-187 with following.

Return type of Eigen::Quaterniond::x() const is const double &, and return type of Eigen::Quaterniond::x() is double &. So you can change the return type of these functions like this:

.def("x", (const double &(Eigen::Quaterniond::*)() const) & Eigen::Quaterniond::x)
.def("y", (const double &(Eigen::Quaterniond::*)() const) & Eigen::Quaterniond::y)
.def("z", (const double &(Eigen::Quaterniond::*)() const) & Eigen::Quaterniond::z)
.def("w", (const double &(Eigen::Quaterniond::*)() const) & Eigen::Quaterniond::w)