smile@smile-X3-S:~/app_install/mapx/build$ sudo make
2024 年 9 月 13 日7点热度0人点赞0条评论
smile@smile-X3-S:~/app_install/mapx/build$ sudomake[sudo] password for smile:
Scanning dependencies of target fbow
[0%] Building CXX object 3rd/FBoW/CMakeFiles/fbow.dir/src/fbow.cpp.o
[1%] Building CXX object 3rd/FBoW/CMakeFiles/fbow.dir/src/vocabulary_creator.cpp.o
[2%] Linking CXX shared library libfbow.so
[2%] Built target fbow
Scanning dependencies of target mapx
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[4%] Building CXX object src/mapx/CMakeFiles/mapx.dir/utils/frame_publisher.cc.o
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[24%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/marker.cc.o
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[28%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/common.cc.o
[29%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/frame.cc.o
[30%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/keyframe.cc.o
[31%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/bow_vocabulary.cc.o
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[37%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/camera_database.cc.o
[38%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/base.cc.o
[39%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/perspective.cc.o
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[41%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/radial_division.cc.o
[42%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/bias.cc.o
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[47%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_database.cc.o
[48%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_util.cc.o
[49%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_initializer.cc.o
In file included from /home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h:7:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:8:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:28:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
void oplusImpl(const number_t* update_) override;
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:28:8: error: ‘void mapx::optimization::internal::se3::ShotVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
void oplusImpl(const number_t* update_) override;
^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:54:41: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
inline void ShotVertex::oplusImpl(const number_t* update_){
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h: In member function ‘void mapx::optimization::internal::se3::ShotVertex::oplusImpl(const int*)’:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:55:42: error: no matching functionfor call to ‘Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0>>::Map(const int*&)’
Eigen::Map<const Vec6_t> update(update_);
^
In file included from /usr/include/eigen3/Eigen/Core:450:0,
from /usr/local/include/g2o/core/base_edge.h:30,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, Eigen::Index, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 6, 1, 0, 6, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate expects 4 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 6, 1, 0, 6, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate expects 3 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 6, 1, 0, 6, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*]
explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: no known conversion for argument 1 from ‘const int*’ to ‘Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0>>::PointerArgType {
aka const double*}’
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: candidate: Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0>>::Map(const Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0>>&)
template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: no known conversion for argument 1 from ‘const int*’ to ‘const Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0>>&’
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:8:0:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h: In member function ‘mapx::optimization::internal::se3::ShotVertex* mapx::optimization::internal::se3::ShotVertexContainer::CreateVertex(unsigned int, const Mat44_t&, bool)’:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h:122:29: error: invalid new-expression of abstract class type ‘mapx::optimization::internal::se3::ShotVertex’
auto vtx = new ShotVertex();
^
In file included from /home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h:7:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:8:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:15:7: note: because the following virtual functions are pure within ‘mapx::optimization::internal::se3::ShotVertex’:
class ShotVertex final : public g2o::BaseVertex<6, g2o::SE3Quat>{
^~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
virtual void oplusImpl(const double* v)=0;
^~~~~~~~~
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h:9:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:11:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h: At global scope:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:27:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
void oplusImpl(const number_t* update_) override;
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:27:8: error: ‘void mapx::sensor::imu::internal::BiasVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
void oplusImpl(const number_t* update_) override;
^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:46:41: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
inline void BiasVertex::oplusImpl(const number_t* update_){
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h: In member function ‘void mapx::sensor::imu::internal::BiasVertex::oplusImpl(const int*)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:47:42: error: no matching functionfor call to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>::Map(const int*&)’
Eigen::Map<const Vec3_t> update(update_);
^
In file included from /usr/include/eigen3/Eigen/Core:450:0,
from /usr/local/include/g2o/core/base_edge.h:30,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, Eigen::Index, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate expects 4 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate expects 3 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*]
explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: no known conversion for argument 1 from ‘const int*’ to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>::PointerArgType {
aka const double*}’
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: candidate: Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>::Map(const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>&)
template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: no known conversion for argument 1 from ‘const int*’ to ‘const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>&’
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:11:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h: In member function ‘mapx::sensor::imu::internal::BiasVertex* mapx::sensor::imu::internal::BiasVertexContainer::CreateVertex(unsigned int, const Vec3_t&, bool)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h:99:29: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::BiasVertex’
auto vtx = new BiasVertex();
^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h:9:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:11:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:14:7: note: because the following virtual functions are pure within ‘mapx::sensor::imu::internal::BiasVertex’:
class BiasVertex final : public g2o::BaseVertex<3, Vec3_t>{
^~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
virtual void oplusImpl(const double* v)=0;
^~~~~~~~~
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:12:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h: At global scope:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:28:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
void oplusImpl(const number_t* update_) override;
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:28:8: error: ‘void mapx::sensor::imu::internal::GravityDirVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
void oplusImpl(const number_t* update_) override;
^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:49:47: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
inline void GravityDirVertex::oplusImpl(const number_t* update_){
^~~~~~~~
timer_t
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:13:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:28:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
void oplusImpl(const number_t* update_) override;
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:28:8: error: ‘void mapx::sensor::imu::internal::ScaleVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
void oplusImpl(const number_t* update_) override;
^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:47:42: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
inline void ScaleVertex::oplusImpl(const number_t* update_){
^~~~~~~~
timer_t
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:14:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:27:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
void oplusImpl(const number_t* update_) override;
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:27:8: error: ‘void mapx::sensor::imu::internal::VelocityVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
void oplusImpl(const number_t* update_) override;
^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:49:45: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
inline void VelocityVertex::oplusImpl(const number_t* update_){
^~~~~~~~
timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h: In member function ‘void mapx::sensor::imu::internal::VelocityVertex::oplusImpl(const int*)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:50:42: error: no matching functionfor call to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>::Map(const int*&)’
Eigen::Map<const Vec3_t> update(update_);
^
In file included from /usr/include/eigen3/Eigen/Core:450:0,
from /usr/local/include/g2o/core/base_edge.h:30,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, Eigen::Index, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate expects 4 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate expects 3 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, const StrideType&)[with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions =0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*]
explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: no known conversion for argument 1 from ‘const int*’ to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>::PointerArgType {
aka const double*}’
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: candidate: Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>::Map(const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>&)
template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: no known conversion for argument 1 from ‘const int*’ to ‘const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0>>&’
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:16:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex_container.h: In member function ‘mapx::sensor::imu::internal::VelocityVertex* mapx::sensor::imu::internal::VelocityVertexContainer::CreateVertex(unsigned int, const Vec3_t&, bool)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex_container.h:125:33: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::VelocityVertex’
auto vtx = new VelocityVertex();
^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:14:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:14:7: note: because the following virtual functions are pure within ‘mapx::sensor::imu::internal::VelocityVertex’:
class VelocityVertex final : public g2o::BaseVertex<3, Vec3_t>{
^~~~~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
virtual void oplusImpl(const double* v)=0;
^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc: In member function ‘bool mapx::optimization::ImuInitializer::Initialize(const std::vector<std::shared_ptr<mapx::schema::Keyframe>>&, mapx::Mat33_t&, double&, bool, float, float) const’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:31:29: error: ‘make_unique’ is not a member of ‘g2o’
auto linear_solver = g2o::make_unique<
^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:31:29: note: suggested alternatives:
In file included from /usr/include/c++/7/memory:80:0,
from /usr/local/include/g2o/autodiff/fixed_array.h:37,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:36,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/c++/7/bits/unique_ptr.h:832:5: note: ‘std::make_unique’
make_unique(_Args&&...)= delete;
^~~~~~~~~~~
/usr/include/c++/7/bits/unique_ptr.h:820:5: note: ‘std::make_unique’
make_unique(_Args&&... __args)
^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:32:63: error: expected primary-expression before ‘>’ token
g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
^~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:32:66: error: expected primary-expression before ‘)’ token
g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
^
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:34:12: error: ‘make_unique’ is not a member of ‘g2o’
g2o::make_unique<g2o::BlockSolverX>(std::move(linear_solver));
^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:34:12: note: suggested alternatives:
In file included from /usr/include/c++/7/memory:80:0,
from /usr/local/include/g2o/autodiff/fixed_array.h:37,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:36,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/c++/7/bits/unique_ptr.h:832:5: note: ‘std::make_unique’
make_unique(_Args&&...)= delete;
^~~~~~~~~~~
/usr/include/c++/7/bits/unique_ptr.h:820:5: note: ‘std::make_unique’
make_unique(_Args&&... __args)
^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:34:41: error: expected primary-expression before ‘>’ token
g2o::make_unique<g2o::BlockSolverX>(std::move(linear_solver));
^
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:87:70: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::GravityDirVertex’
auto gravity_dir_vtx = new sensor::imu::internal::GravityDirVertex();
^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:12:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:15:7: note: because the following virtual functions are pure within ‘mapx::sensor::imu::internal::GravityDirVertex’:
class GravityDirVertex final : public g2o::BaseVertex<2, Mat33_t>{
^~~~~~~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
virtual void oplusImpl(const double* v)=0;
^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:93:59: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::ScaleVertex’
auto scale_vtx = new sensor::imu::internal::ScaleVertex();
^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:13:0,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:15:7: note: because the following virtual functions are pure within ‘mapx::sensor::imu::internal::ScaleVertex’:
class ScaleVertex final : public g2o::BaseVertex<1, double>{
^~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
from /usr/local/include/g2o/core/base_binary_edge.h:30,
from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
virtual void oplusImpl(const double* v)=0;
^~~~~~~~~
src/mapx/CMakeFiles/mapx.dir/build.make:1286: recipe for target 'src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_initializer.cc.o' failed
make[2]: *** [src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_initializer.cc.o] Error 1
CMakeFiles/Makefile2:144: recipe for target 'src/mapx/CMakeFiles/mapx.dir/all' failed
make[1]: *** [src/mapx/CMakeFiles/mapx.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
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