ROS2 humble - Githubissues

bonabai commented 1 year ago

Any hints on building this on ROS2 humble? I was getting some constraints to run it on Ubuntu 22.04 which ROS2 humble is the supported ROS version.

I tried naively building it though getting some weird error about "rclcpp::Duration(0)"

error: no matching function for call to ‘rclcpp::Duration::Duration(int)’

Thanks in advance!

bonabai commented 1 year ago

Actually I think I might have a quick fix for it: If in ROS2 humble, just replace it with the following: rclcpp::Duration::from_seconds(0);

Not sure if I should do a PR or just leave this ticket open for others.

mzahana commented 1 year ago

Hi @bonabai Have you successfully used VINS FUSION with ROS 2 humble ?

bonabai commented 1 year ago

Yes, though loop fusion might need some adjustment.

Mohamed Abdelkader Zahana @.***>于2023年6月12日周一下午7:49写道：

Hi @bonabai https://github.com/bonabai Have you successfully used VINS FUSION with ROS 2 humble ?

— Reply to this email directly, view it on GitHub https://github.com/zinuok/VINS-Fusion-ROS2/issues/8#issuecomment-1587172835, or unsubscribe https://github.com/notifications/unsubscribe-auth/A7C2QMHJGPNTUAQVMIYZDY3XK364ZANCNFSM6AAAAAAYGZBW3Q . You are receiving this because you were mentioned.Message ID: @.***>

mzahana commented 1 year ago

Can you please share the modifications needed to run it with ros humble?

Thanks @bonabai

bonabai commented 1 year ago

Try this one: https://github.com/bonabai/VINS-Fusion-ROS2.git, and checkout no_cuda branch. Let me know if you run into any error message.

luohongk commented 10 months ago

@bonabai I faced with the same problems with you .Have you solved it?

bonabai commented 10 months ago

@bonabai I faced with the same problems with you .Have you solved it?

Try rclcpp::Duration::from_seconds(0); and let me know if you still run into errors.

cvirxsc commented 10 months ago

您能否与 ros humble 分享运行它所需的修改？

谢谢

can you manage to run with ros2 humble?or how can i convert this package to humble version? Thanks!

bonabai commented 10 months ago

@cvirxsc Try this one: https://github.com/bonabai/VINS-Fusion-ROS2.git, and checkout no_cuda branch. Let me know if you run into any error message.

cvirxsc commented 10 months ago

@cvirxsc Try this one: https://github.com/bonabai/VINS-Fusion-ROS2.git, and checkout no_cuda branch. Let me know if you run into any error message.

Thanks! I will try to run within one day ,and then turn to you for help.

cvirxsc commented 10 months ago

@bonabai I build it with lots of warnings,but it's finished.And then I run three commands,with last one I meet the error.

could you please tell me how can i solve it? Thanks!

cvirxsc commented 10 months ago

@bonabai And the warning during the build process as follows:

tulingcheng86 commented 9 months ago

@bonabai并且构建过程中的警告如下：

HELLO!Have you successfully run through vinsfusion-humble?

cvirxsc commented 9 months ago

@tulingcheng86 I can't see your picture

tulingcheng86 commented 9 months ago

我看不到你的照片

That's the picture of the error you ran above, and I got the same error as you, but I was able to run it. Tested it with the euroc dataset and it ran successfully

cvirxsc commented 9 months ago

@tulingcheng86 加我qq 2370284467

tulingcheng86 commented 9 months ago

@tulingcheng86 加我qq 2370284467

ok

2805651606 commented 5 months ago

2024-06-04_09-35 你好，我也遇到了同样的错误，请问你解决了？想问一下你是如何解决的呢？

tulingcheng86 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

tulingcheng86 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了？想问一下你是如何解决的呢？

参考这个issue https://github.com/zinuok/VINS-Fusion-ROS2/issues/8

“@cvirxsc Try this one: https://github.com/bonabai/VINS-Fusion-ROS2.git, and checkout no_cuda branch.”

2805651606 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

tulingcheng86 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

2805651606 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

第一张图就是编译后的结果。这个应该算是成功了吧

tulingcheng86 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

第一张图就是编译后的结果。这个应该算是成功了吧

看你的运行，应该是运行出错了把。。报错说config文件不存在检查下路径

2805651606 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

第一张图就是编译后的结果。这个应该算是成功了吧

看你的运行，应该是运行出错了把。。报错说config文件不存在检查下路径

文件存在，现在有点懵

tulingcheng86 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

第一张图就是编译后的结果。这个应该算是成功了吧

看你的运行，应该是运行出错了把。。报错说config文件不存在检查下路径

文件存在，现在有点懵

。。。用错文件了。。。你这导入的仅仅是相机的内参用下面这三个配置文件

luohongk commented 5 months ago

兄弟，我放弃了，我改用ubuntu18.04➕ros1了

发自我的iPhone

------------------ Original ------------------ From: tulingcheng86 @.> Date: Tue,Jun 4,2024 11:22 AM To: zinuok/VINS-Fusion-ROS2 @.> Cc: 罗宏昆 @.>, Comment @.> Subject: Re: [zinuok/VINS-Fusion-ROS2] ROS2 humble (Issue #8)

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

第一张图就是编译后的结果。这个应该算是成功了吧

看你的运行，应该是运行出错了把。。报错说config文件不存在检查下路径

文件存在，现在有点懵

。。。用错文件了。。。你这导入的仅仅是相机的内参用下面这三个配置文件 image.png (view on web)

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.***>

tulingcheng86 commented 5 months ago

兄弟，我放弃了，我改用ubuntu18.04➕ros1了发自我的iPhone … ------------------ Original ------------------ From: tulingcheng86 @.> Date: Tue,Jun 4,2024 11:22 AM To: zinuok/VINS-Fusion-ROS2 @.> Cc: 罗宏昆 @.>, Comment @.> Subject: Re: [zinuok/VINS-Fusion-ROS2] ROS2 humble (Issue #8) 你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2 我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？切换分支后重新编译成功了吗第一张图就是编译后的结果。这个应该算是成功了吧看你的运行，应该是运行出错了把。。报错说config文件不存在检查下路径文件存在，现在有点懵。。。用错文件了。。。你这导入的仅仅是相机的内参用下面这三个配置文件 image.png (view on web) — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: @.***>

😂前面不是都编译成功了嘛，就差启动了，你只是启动文件错了吧

2805651606 commented 5 months ago

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的 https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

第一张图就是编译后的结果。这个应该算是成功了吧

看你的运行，应该是运行出错了把。。报错说config文件不存在检查下路径

文件存在，现在有点懵

。。。用错文件了。。。你这导入的仅仅是相机的内参用下面这三个配置文件

大佬还是有问题，是我的命令行有问题？方便加个qq联系一下？我的qq是2805651606. ![Uploading 5.png…]()

2805651606 commented 5 months ago

wang@wang-B760M-D2H-DDR4:~/ros2_ws_project_b$ ros2 run vins vins_node --ros-args --params-file /home/wang/ros2_ws_project_b/src/VINS-Fusion-ROS2/config/euroc/euroc_mono_imu_config.yaml [INFO] [1717551147.541310378] []: init begins [ERROR] [1717551147.546170233] [rcl]: Failed to parse global arguments terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError' what(): failed to initialize rcl: Couldn't parse params file: '--params-file /home/wang/ros2_ws_project_b/src/VINS-Fusion-ROS2/config/euroc/euroc_mono_imu_config.yaml'. Error: Error parsing a event near line 1, at ./src/parse.c:769, at ./src/rcl/arguments.c:406

最后一张图报的错，我问了一手chatgpt，他告诉我是这个代码里面的内容还是基于ros1运行的，ros2识别不了

tulingcheng86 commented 5 months ago

qq加你了

	tlc

@. | ---- Replied Message ---- | From | @.> | | Date | 6/4/2024 21:48 | | To | @.> | | Cc | @.> , @.***> | | Subject | Re: [zinuok/VINS-Fusion-ROS2] ROS2 humble (Issue #8) |

你好，我也遇到了同样的错误，请问你解决了吗？想问一下你是如何解决的呢？

你是22.04吗，如果是的话可以参考这个作者的https://github.com/bonabai/VINS-Fusion-ROS2

我是 ubuntu22,并且ros的版本是humble.也重新这样做了。但是还是会出现这个问题。我是这个命令执行的有问题？是不是得用个数据集来测试呢？

切换分支后重新编译成功了吗

第一张图就是编译后的结果。这个应该算是成功了吧

看你的运行，应该是运行出错了把。。报错说config文件不存在检查下路径

文件存在，现在有点懵

。。。用错文件了。。。你这导入的仅仅是相机的内参用下面这三个配置文件

大佬还是有问题，是我的命令行有问题？方便加个qq联系一下？我的qq是2805651606.

— Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you were mentioned.Message ID: @.***>

ShreyasKuntnal commented 3 months ago

@bonabai I tried both the repositries urs and the one which we are discussing, I am facing this particular error:

/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1177:27: error: ‘pcmp_le’ was not declared in this scope
 1177 |     return pselect(pcmp_le(y, pset1<T>(2.0)), y_le_two, y_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_j1<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1672:30:   required from ‘static T Eigen::internal::bessel_j1_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1946:53:   required from ‘typename Eigen::internal::bessel_j1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_j1(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_j1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:36:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1575:16: error: ‘pcmp_lt’ was not declared in this scope
 1575 |         pcmp_lt(x, pset1<T>(0.0f)), pnegate(y_gt_two), y_gt_two);
      |         ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1576:27: error: ‘pcmp_le’ was not declared in this scope
 1576 |     return pselect(pcmp_le(y, pset1<T>(2.0f)), y_le_two, y_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h: In member function ‘void Eigen::TensorEvaluator<Eigen::TensorReverseOp<ReverseDimensions, XprType>, Device>::writePacket(Eigen::TensorEvaluator<Eigen::TensorReverseOp<ReverseDimensions, XprType>, Device>::Index, const PacketReturnType&)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h:455:5: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  455 |     EIGEN_UNROLL_LOOP
      |     ^~~~~~~~~~~~~~~~~
      |     EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_y0<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1481:30:   required from ‘static T Eigen::internal::bessel_y0_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1940:53:   required from ‘typename Eigen::internal::bessel_y0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_y0(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_y0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:40:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1373:31: error: ‘pcmp_le’ was not declared in this scope
 1373 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), NEG_MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1380:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
 1380 |     return pselect(pcmp_le(x, pset1<T>(2.0)), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorReverse.h:456:21: error: ‘i’ was not declared in this scope
  456 |     for (int i = 0; i < PacketSize; ++i) {
      |                     ^
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_y1<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1875:30:   required from ‘static T Eigen::internal::bessel_y1_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1952:53:   required from ‘typename Eigen::internal::bessel_y1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_y1(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_y1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:44:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1766:31: error: ‘pcmp_lt’ was not declared in this scope
 1766 |     x_le_two = pselect(pcmp_lt(x, pset1<T>(0.0f)), NEG_MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1774:27: error: ‘pcmp_le’ was not declared in this scope
 1774 |     return pselect(pcmp_le(x, pset1<T>(2.0)), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:106,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h: In static member function ‘static Eigen::TensorEvaluator<const Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::PacketReturnType Eigen::TensorEvaluator<const Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::PacketLoader<LoadMode, Self, ImplPacketAccess>::Run(const Self&, Eigen::TensorEvaluator<const Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::Index)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h:198:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  198 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k0<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:761:30:   required from ‘static T Eigen::internal::bessel_k0_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1910:53:   required from ‘typename Eigen::internal::bessel_k0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k0(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:47:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:668:31: error: ‘pcmp_le’ was not declared in this scope
  668 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:675:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  675 |     return pselect(pcmp_le(x, two), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h:199:23: error: ‘i’ was not declared in this scope
  199 |       for (int i = 0; i < PacketSize; ++i) {
      |                       ^
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k0e<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:589:31:   required from ‘static T Eigen::internal::bessel_k0e_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1916:54:   required from ‘typename Eigen::internal::bessel_k0e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k0e(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k0e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:51:47:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:502:16: error: ‘pcmp_le’ was not declared in this scope
  502 |         pcmp_le(x, pset1<T>(0.0)),
      |         ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:504:24: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  504 |         pselect(pcmp_le(x, two), x_le_two, x_gt_two));
      |                 ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k1<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1083:30:   required from ‘static T Eigen::internal::bessel_k1_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1922:53:   required from ‘typename Eigen::internal::bessel_k1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k1(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:55:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:992:31: error: ‘pcmp_le’ was not declared in this scope
  992 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:999:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  999 |     return pselect(pcmp_le(x, two), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k1e<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:917:31:   required from ‘static T Eigen::internal::bessel_k1e_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1928:54:   required from ‘typename Eigen::internal::bessel_k1e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k1e(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k1e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:59:47:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:833:31: error: ‘pcmp_le’ was not declared in this scope
  833 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:838:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  838 |     return pselect(pcmp_le(x, two), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h: In static member function ‘static Eigen::TensorEvaluator<const Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::PacketReturnType Eigen::TensorEvaluator<const Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::PacketLoader<LoadMode, Self, true>::Run(const Self&, Eigen::TensorEvaluator<const Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::Index)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h:215:9: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  215 |         EIGEN_UNROLL_LOOP
      |         ^~~~~~~~~~~~~~~~~
      |         EIGEN_UNROLLING_LIMIT
In file included from /usr/include/eigen3/unsupported/Eigen/SpecialFunctions:69,
                 from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:18,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h: In instantiation of ‘T Eigen::internal::generic_ndtri(const T&) [with T = float; ScalarType = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:667:41:   required from ‘static Scalar Eigen::internal::ndtri_impl<Scalar>::run(Scalar) [with Scalar = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:2009:49:   required from ‘typename Eigen::internal::ndtri_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::ndtri(const Scalar&) [with Scalar = float; typename Eigen::internal::ndtri_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h:34:42:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:631:28: error: ‘pcmp_le’ was not declared in this scope
  631 |   should_flipsign = pcmp_le(a, psub(one, exp_neg_two));
      |                     ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:632:14: error: cannot convert ‘const float’ to ‘fd_set*’
  632 |   b = pselect(should_flipsign, a, psub(one, a));
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |              |
      |              const float
In file included from /usr/include/x86_64-linux-gnu/sys/types.h:179,
                 from /usr/include/stdlib.h:395,
                 from /usr/include/c++/11/cstdlib:75,
                 from /usr/include/c++/11/stdlib.h:36,
                 from /usr/lib/gcc/x86_64-linux-gnu/11/include/mm_malloc.h:27,
                 from /usr/lib/gcc/x86_64-linux-gnu/11/include/xmmintrin.h:34,
                 from /usr/lib/gcc/x86_64-linux-gnu/11/include/emmintrin.h:31,
                 from /usr/include/opencv4/opencv2/core/cv_cpu_dispatch.h:220,
                 from /usr/include/opencv4/opencv2/core/cvdef.h:369,
                 from /usr/include/opencv4/opencv2/core.hpp:52,
                 from /usr/include/opencv4/opencv2/core/core.hpp:48,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h:4,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:1:
/usr/include/x86_64-linux-gnu/sys/select.h:127:52: note:   initializing argument 2 of ‘int pselect(int, fd_set*, fd_set*, fd_set*, const timespec*, const __sigset_t*)’
  127 | extern int pselect (int __nfds, fd_set *__restrict __readfds,
      |                                 ~~~~~~~~~~~~~~~~~~~^~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h:216:25: error: ‘i’ was not declared in this scope
  216 |         for (int i = 0; i < PacketSize; ++i) {
      |                         ^
In file included from /usr/include/eigen3/unsupported/Eigen/SpecialFunctions:69,
                 from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:18,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:635:14: error: ‘pcmp_lt’ was not declared in this scope
  635 |       pcmp_lt(exp_neg_two, b),
      |       ~~~~~~~^~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:640:14: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  640 |       pcmp_le(a, zero), neg_maxnum,
      |       ~~~~~~~^~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:641:22: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  641 |       pselect(pcmp_le(one, a), maxnum, ndtri));
      |               ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h: In member function ‘void Eigen::TensorEvaluator<Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::writePacket(Eigen::TensorEvaluator<Eigen::TensorShufflingOp<Shuffle, XprType>, Device>::Index, const PacketReturnType&)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h:404:5: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  404 |     EIGEN_UNROLL_LOOP
      |     ^~~~~~~~~~~~~~~~~
      |     EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorShuffling.h:405:21: error: ‘i’ was not declared in this scope
  405 |     for (int i = 0; i < PacketSize; ++i) {
      |                     ^
In file included from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:107,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h: In member function ‘Eigen::TensorEvaluator<const Eigen::TensorStridingOp<Strides, XprType>, Device>::PacketReturnType Eigen::TensorEvaluator<const Eigen::TensorStridingOp<Strides, XprType>, Device>::packet(Eigen::TensorEvaluator<const Eigen::TensorStridingOp<Strides, XprType>, Device>::Index) const’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:167:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  167 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:168:33: error: ‘i’ was not declared in this scope
  168 |       for (int i = NumDims - 1; i > 0; --i) {
      |                                 ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:179:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  179 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:180:23: error: ‘i’ was not declared in this scope
  180 |       for (int i = 0; i < NumDims - 1; ++i) {
      |                       ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:199:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  199 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:200:23: error: ‘i’ was not declared in this scope
  200 |       for (int i = 1; i < PacketSize-1; ++i) {
      |                       ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h: In member function ‘Eigen::TensorEvaluator<const Eigen::TensorStridingOp<Strides, XprType>, Device>::Index Eigen::TensorEvaluator<const Eigen::TensorStridingOp<Strides, XprType>, Device>::srcCoeff(Eigen::TensorEvaluator<const Eigen::TensorStridingOp<Strides, XprType>, Device>::Index) const’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:235:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  235 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:236:33: error: ‘i’ was not declared in this scope
  236 |       for (int i = NumDims - 1; i > 0; --i) {
      |                                 ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:243:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  243 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:244:23: error: ‘i’ was not declared in this scope
  244 |       for (int i = 0; i < NumDims - 1; ++i) {
      |                       ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h: In member function ‘void Eigen::TensorEvaluator<Eigen::TensorStridingOp<Strides, XprType>, Device>::writePacket(Eigen::TensorEvaluator<Eigen::TensorStridingOp<Strides, XprType>, Device>::Index, const PacketReturnType&)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:303:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  303 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:304:33: error: ‘i’ was not declared in this scope
  304 |       for (int i = NumDims - 1; i > 0; --i) {
      |                                 ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:315:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  315 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:316:23: error: ‘i’ was not declared in this scope
  316 |       for (int i = 0; i < NumDims - 1; ++i) {
      |                       ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:335:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  335 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorStriding.h:336:23: error: ‘i’ was not declared in this scope
  336 |       for (int i = 1; i < PacketSize-1; ++i) {
      |                       ^
In file included from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:111,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h: In constructor ‘Eigen::TensorEvaluator<const Eigen::TensorGeneratorOp<Generator, XprType>, Device>::TensorEvaluator(const XprType&, const Device&)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h:122:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  122 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h:123:23: error: ‘i’ was not declared in this scope
  123 |       for (int i = 1; i < NumDims; ++i) {
      |                       ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h:129:7: error: ‘EIGEN_UNROLL_LOOP’ was not declared in this scope; did you mean ‘EIGEN_UNROLLING_LIMIT’?
  129 |       EIGEN_UNROLL_LOOP
      |       ^~~~~~~~~~~~~~~~~
      |       EIGEN_UNROLLING_LIMIT
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorGenerator.h:130:33: error: ‘i’ was not declared in this scope
  130 |       for (int i = NumDims - 2; i >= 0; --i) {
      |                                 ^
In file included from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:127,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h: In member function ‘const Scalar& Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::coeff(CustomIndices&) const’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:137:32: error: ‘customIndices2Array’ is not a member of ‘Eigen::internal’
  137 |         return coeff(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                ^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:137:57: error: expected primary-expression before ‘,’ token
  137 |         return coeff(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                                         ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h: In member function ‘Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::Scalar& Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::coeffRef(CustomIndices&)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:177:35: error: ‘customIndices2Array’ is not a member of ‘Eigen::internal’
  177 |         return coeffRef(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                   ^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:177:60: error: expected primary-expression before ‘,’ token
  177 |         return coeffRef(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                                            ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h: In member function ‘const Scalar& Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::operator()(CustomIndices&) const’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:231:32: error: ‘customIndices2Array’ is not a member of ‘Eigen::internal’
  231 |         return coeff(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                ^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:231:57: error: expected primary-expression before ‘,’ token
  231 |         return coeff(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                                         ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h: In member function ‘Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::Scalar& Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::operator()(CustomIndices&)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:304:33: error: ‘customIndices2Array’ is not a member of ‘Eigen::internal’
  304 |       return coeffRef(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                 ^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:304:58: error: expected primary-expression before ‘,’ token
  304 |       return coeffRef(internal::customIndices2Array<Index,NumIndices>(indices));
      |                                                          ^
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h: In member function ‘void Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::resize(CustomDimension&)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:499:24: error: ‘customIndices2Array’ is not a member of ‘Eigen::internal’
  499 |       resize(internal::customIndices2Array<Index,NumIndices>(dimensions));
      |                        ^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:499:49: error: expected primary-expression before ‘,’ token
  499 |       resize(internal::customIndices2Array<Index,NumIndices>(dimensions));
      |                                                 ^
In file included from /usr/include/c++/11/cassert:44,
                 from /usr/local/include/eigen3/Eigen/Core:280,
                 from /usr/local/include/eigen3/Eigen/Dense:1,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/include/camodocal/camera_models/Camera.h:5,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h:8,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:1:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h: In member function ‘Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::StorageRefType Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::operator()(Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::Index, Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::Index, IndexTypes ...) const’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h:173:7: error: ‘all’ is not a member of ‘Eigen::internal’
  173 |       eigen_assert(internal::all((Eigen::NumTraits<Index>::highest() >= otherIndices)...));
      |       ^~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h: In member function ‘Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::StorageRefType Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::operator()(Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::Index, Eigen::TensorMap<PlainObjectType, Options_, MakePointer_>::Index, IndexTypes ...)’:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorMap.h:261:8: error: ‘all’ is not a member of ‘Eigen::internal’
  261 |        eigen_assert(internal::all((Eigen::NumTraits<Index>::highest() >= otherIndices)...));
      |        ^~~~~~~~~~~~
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc: In constructor ‘camodocal::OCAMCamera::OCAMCamera(const camodocal::OCAMCamera::Parameters&)’:
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:198:4: warning: implicitly-declared ‘camodocal::OCAMCamera::Parameters::Parameters(const camodocal::OCAMCamera::Parameters&)’ is deprecated [-Wdeprecated-copy]
  198 |  : mParameters(params)
      |    ^~~~~~~~~~~~~~~~~~~
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:141:1: note: because ‘camodocal::OCAMCamera::Parameters’ has user-provided ‘camodocal::OCAMCamera::Parameters& camodocal::OCAMCamera::Parameters::operator=(const camodocal::OCAMCamera::Parameters&)’
  141 | OCAMCamera::Parameters::operator=(const OCAMCamera::Parameters& other)
      | ^~~~~~~~~~
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc: In member function ‘virtual void camodocal::OCAMCamera::estimateIntrinsics(const Size&, const std::vector<std::vector<cv::Point3_<float> > >&, const std::vector<std::vector<cv::Point_<float> > >&)’:
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:517:39: warning: implicitly-declared ‘camodocal::OCAMCamera::Parameters::Parameters(const camodocal::OCAMCamera::Parameters&)’ is deprecated [-Wdeprecated-copy]
  517 |     Parameters params = getParameters();
      |                                       ^
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:141:1: note: because ‘camodocal::OCAMCamera::Parameters’ has user-provided ‘camodocal::OCAMCamera::Parameters& camodocal::OCAMCamera::Parameters::operator=(const camodocal::OCAMCamera::Parameters&)’
  141 | OCAMCamera::Parameters::operator=(const OCAMCamera::Parameters& other)
      | ^~~~~~~~~~
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc: In member function ‘virtual void camodocal::OCAMCamera::readParameters(const std::vector<double, std::allocator<double> >&)’:
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:788:39: warning: implicitly-declared ‘camodocal::OCAMCamera::Parameters::Parameters(const camodocal::OCAMCamera::Parameters&)’ is deprecated [-Wdeprecated-copy]
  788 |     Parameters params = getParameters();
      |                                       ^
/home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:141:1: note: because ‘camodocal::OCAMCamera::Parameters’ has user-provided ‘camodocal::OCAMCamera::Parameters& camodocal::OCAMCamera::Parameters::operator=(const camodocal::OCAMCamera::Parameters&)’
  141 | OCAMCamera::Parameters::operator=(const OCAMCamera::Parameters& other)
      | ^~~~~~~~~~
In file included from /usr/include/eigen3/unsupported/Eigen/SpecialFunctions:63,
                 from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:18,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_i0e<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:208:31:   required from ‘static T Eigen::internal::bessel_i0e_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1892:54:   required from ‘typename Eigen::internal::bessel_i0e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_i0e(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_i0e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:21:47:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:120:27: error: ‘pcmp_le’ was not declared in this scope
  120 |     return pselect(pcmp_le(y, pset1<T>(8.0f)), y_le_eight, y_gt_eight);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_i1e<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:403:31:   required from ‘static T Eigen::internal::bessel_i1e_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1904:54:   required from ‘typename Eigen::internal::bessel_i1e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_i1e(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_i1e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:29:47:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:313:24: error: ‘pcmp_le’ was not declared in this scope
  313 |     y = pselect(pcmp_le(y, pset1<T>(8.0f)), y_le_eight, y_gt_eight);
      |                 ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:314:27: error: ‘pcmp_lt’ was not declared in this scope
  314 |     return pselect(pcmp_lt(x, pset1<T>(0.0f)), pnegate(y), y);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_j0<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1283:30:   required from ‘static T Eigen::internal::bessel_j0_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1934:53:   required from ‘typename Eigen::internal::bessel_j0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_j0(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_j0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:32:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1168:16: error: ‘pcmp_lt’ was not declared in this scope
 1168 |         pcmp_lt(y, pset1<T>(1.0e-3f)),
      |         ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1177:27: error: ‘pcmp_le’ was not declared in this scope
 1177 |     return pselect(pcmp_le(y, pset1<T>(2.0)), y_le_two, y_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_j1<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1672:30:   required from ‘static T Eigen::internal::bessel_j1_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1946:53:   required from ‘typename Eigen::internal::bessel_j1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_j1(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_j1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:36:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1575:16: error: ‘pcmp_lt’ was not declared in this scope
 1575 |         pcmp_lt(x, pset1<T>(0.0f)), pnegate(y_gt_two), y_gt_two);
      |         ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1576:27: error: ‘pcmp_le’ was not declared in this scope
 1576 |     return pselect(pcmp_le(y, pset1<T>(2.0f)), y_le_two, y_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_y0<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1481:30:   required from ‘static T Eigen::internal::bessel_y0_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1940:53:   required from ‘typename Eigen::internal::bessel_y0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_y0(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_y0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:40:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1373:31: error: ‘pcmp_le’ was not declared in this scope
 1373 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), NEG_MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1380:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
 1380 |     return pselect(pcmp_le(x, pset1<T>(2.0)), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_y1<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1875:30:   required from ‘static T Eigen::internal::bessel_y1_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1952:53:   required from ‘typename Eigen::internal::bessel_y1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_y1(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_y1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:44:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1766:31: error: ‘pcmp_lt’ was not declared in this scope
 1766 |     x_le_two = pselect(pcmp_lt(x, pset1<T>(0.0f)), NEG_MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1774:27: error: ‘pcmp_le’ was not declared in this scope
 1774 |     return pselect(pcmp_le(x, pset1<T>(2.0)), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k0<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:761:30:   required from ‘static T Eigen::internal::bessel_k0_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1910:53:   required from ‘typename Eigen::internal::bessel_k0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k0(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k0_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:47:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:668:31: error: ‘pcmp_le’ was not declared in this scope
  668 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:675:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  675 |     return pselect(pcmp_le(x, two), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k0e<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:589:31:   required from ‘static T Eigen::internal::bessel_k0e_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1916:54:   required from ‘typename Eigen::internal::bessel_k0e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k0e(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k0e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:51:47:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:502:16: error: ‘pcmp_le’ was not declared in this scope
  502 |         pcmp_le(x, pset1<T>(0.0)),
      |         ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:504:24: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  504 |         pselect(pcmp_le(x, two), x_le_two, x_gt_two));
      |                 ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k1<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1083:30:   required from ‘static T Eigen::internal::bessel_k1_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1922:53:   required from ‘typename Eigen::internal::bessel_k1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k1(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k1_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:55:46:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:992:31: error: ‘pcmp_le’ was not declared in this scope
  992 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:999:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  999 |     return pselect(pcmp_le(x, two), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h: In instantiation of ‘static T Eigen::internal::generic_k1e<T, float>::run(const T&) [with T = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:917:31:   required from ‘static T Eigen::internal::bessel_k1e_impl<T>::run(T) [with T = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:1928:54:   required from ‘typename Eigen::internal::bessel_k1e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::bessel_k1e(const Scalar&) [with Scalar = float; typename Eigen::internal::bessel_k1e_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsHalf.h:59:47:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:833:31: error: ‘pcmp_le’ was not declared in this scope
  833 |     x_le_two = pselect(pcmp_le(x, pset1<T>(0.0)), MAXNUM, x_le_two);
      |                        ~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/BesselFunctionsImpl.h:838:27: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  838 |     return pselect(pcmp_le(x, two), x_le_two, x_gt_two);
      |                    ~~~~~~~^~~~~~~~
In file included from /usr/include/eigen3/unsupported/Eigen/SpecialFunctions:69,
                 from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:18,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h: In instantiation of ‘T Eigen::internal::generic_ndtri(const T&) [with T = float; ScalarType = float]’:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:667:41:   required from ‘static Scalar Eigen::internal::ndtri_impl<Scalar>::run(Scalar) [with Scalar = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:2009:49:   required from ‘typename Eigen::internal::ndtri_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type Eigen::numext::ndtri(const Scalar&) [with Scalar = float; typename Eigen::internal::ndtri_retval<typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type>::type = float; typename Eigen::internal::global_math_functions_filtering_base<Scalar>::type = float]’
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsHalf.h:34:42:   required from here
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:631:28: error: ‘pcmp_le’ was not declared in this scope
  631 |   should_flipsign = pcmp_le(a, psub(one, exp_neg_two));
      |                     ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:632:14: error: cannot convert ‘const float’ to ‘fd_set*’
  632 |   b = pselect(should_flipsign, a, psub(one, a));
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      |              |
      |              const float
In file included from /usr/include/x86_64-linux-gnu/sys/types.h:179,
                 from /usr/include/stdlib.h:395,
                 from /usr/include/c++/11/cstdlib:75,
                 from /usr/include/c++/11/stdlib.h:36,
                 from /usr/lib/gcc/x86_64-linux-gnu/11/include/mm_malloc.h:27,
                 from /usr/lib/gcc/x86_64-linux-gnu/11/include/xmmintrin.h:34,
                 from /usr/lib/gcc/x86_64-linux-gnu/11/include/emmintrin.h:31,
                 from /usr/include/opencv4/opencv2/core/cv_cpu_dispatch.h:220,
                 from /usr/include/opencv4/opencv2/core/cvdef.h:369,
                 from /usr/include/opencv4/opencv2/core.hpp:52,
                 from /usr/include/opencv4/opencv2/core/core.hpp:48,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/include/camodocal/camera_models/ScaramuzzaCamera.h:4,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:1:
/usr/include/x86_64-linux-gnu/sys/select.h:127:52: note:   initializing argument 2 of ‘int pselect(int, fd_set*, fd_set*, fd_set*, const timespec*, const __sigset_t*)’
  127 | extern int pselect (int __nfds, fd_set *__restrict __readfds,
      |                                 ~~~~~~~~~~~~~~~~~~~^~~~~~~~~
In file included from /usr/include/eigen3/unsupported/Eigen/SpecialFunctions:69,
                 from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:18,
                 from /usr/include/opencv4/opencv2/core/eigen.hpp:65,
                 from /home/vt008/vins_fusion_humble_ws/src/VINS-Fusion-ROS2/camera_models/src/camera_models/ScaramuzzaCamera.cc:10:
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:635:14: error: ‘pcmp_lt’ was not declared in this scope
  635 |       pcmp_lt(exp_neg_two, b),
      |       ~~~~~~~^~~~~~~~~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:640:14: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  640 |       pcmp_le(a, zero), neg_maxnum,
      |       ~~~~~~~^~~~~~~~~
/usr/include/eigen3/unsupported/Eigen/src/SpecialFunctions/SpecialFunctionsImpl.h:641:22: error: ‘pcmp_le’ was not declared in this scope, and no declarations were found by argument-dependent lookup at the point of instantiation [-fpermissive]
  641 |       pselect(pcmp_le(one, a), maxnum, ndtri));
      |               ~~~~~~~^~~~~~~~
gmake[2]: *** [CMakeFiles/camera_models.dir/build.make:188: CMakeFiles/camera_models.dir/src/camera_models/EquidistantCamera.cc.o] Error 1
gmake[2]: *** [CMakeFiles/camera_models.dir/build.make:202: CMakeFiles/camera_models.dir/src/camera_models/ScaramuzzaCamera.cc.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/camera_models.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/Calibrations.dir/build.make:202: CMakeFiles/Calibrations.dir/src/camera_models/EquidistantCamera.cc.o] Error 1
gmake[2]: *** [CMakeFiles/Calibrations.dir/build.make:216: CMakeFiles/Calibrations.dir/src/camera_models/ScaramuzzaCamera.cc.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/Calibrations.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< camera_models [15.6s, exited with code 2]

Summary: 1 package finished [15.8s]
  1 package failed: camera_models
  1 package had stderr output: camera_models
  2 packages not processed

What might be the issue here?

jetliao0909 commented 5 days ago

wang@wang-B760M-D2H-DDR4:~/ros2_ws_project_b$ ros2 run vins vins_node --ros-args --params-file /home/wang/ros2_ws_project_b/src/VINS-Fusion-ROS2/config/euroc/euroc_mono_imu_config.yaml [INFO] [1717551147.541310378] []: init begins [ERROR] [1717551147.546170233] [rcl]: Failed to parse global arguments terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError' what(): failed to initialize rcl: Couldn't parse params file: '--params-file /home/wang/ros2_ws_project_b/src/VINS-Fusion-ROS2/config/euroc/euroc_mono_imu_config.yaml'. Error: Error parsing a event near line 1, at ./src/parse.c:769, at ./src/rcl/arguments.c:406 [ros2run]: Aborted 最后一张图报的错，我问了一手chatgpt，他告诉我是这个代码里面的内容还是基于ros1运行的，ros2识别不了

just $ros2 run vins vins_node src/VINS-Fusion-ROS2/config/euroc/euroc_mono_imu_config.yaml

zinuok / VINS-Fusion-ROS2

ROS2 humble #8