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make failed, gtsam issue #1000

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cu-autobike opened this issue Mar 23, 2023 · 2 comments · Fixed by #1033
Closed

make failed, gtsam issue #1000

cu-autobike opened this issue Mar 23, 2023 · 2 comments · Fixed by #1033

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@cu-autobike
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I followed the instructions on #427 (comment) to install rtabmap on ros-melodic for the Jetson Xavier (running Ubuntu 18.04), but encountered the following error message when running make:

In file included from /usr/include/gtsam/slam/PriorFactor.h:20:0, from /home/autobike/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43: /usr/include/gtsam/nonlinear/PriorFactor.h: In instantiation of ‘gtsam::Vector gtsam::PriorFactor<VALUE>::evaluateError(const T&, gtsam::OptionalMatrixType) const [with VALUE = vertigo::SwitchVariableLinear; gtsam::Vector = Eigen::Matrix<double, -1, 1>; gtsam::PriorFactor<VALUE>::T = vertigo::SwitchVariableLinear; gtsam::OptionalMatrixType = Eigen::Matrix<double, -1, -1>*; gtsam::Matrix = Eigen::Matrix<double, -1, -1>]’: /home/autobike/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:749:1: required from here /usr/include/gtsam/nonlinear/PriorFactor.h:101:31: error: call to ‘static gtsam::traits<vertigo::SwitchVariableLinear>::TangentVector gtsam::traits<vertigo::SwitchVariableLinear>::Local(const vertigo::SwitchVariableLinear&, const vertigo::SwitchVariableLinear&, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian)’ uses the default argument for parameter 3, which is not yet defined return -traits<T>::Local(x, prior_); ~~~~~~~~~~~~~~~~^~~~~~~~~~~ /usr/include/gtsam/nonlinear/PriorFactor.h:101:31: error: call to ‘static gtsam::traits<vertigo::SwitchVariableLinear>::TangentVector gtsam::traits<vertigo::SwitchVariableLinear>::Local(const vertigo::SwitchVariableLinear&, const vertigo::SwitchVariableLinear&, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian, gtsam::traits<vertigo::SwitchVariableLinear>::ChartJacobian)’ uses the default argument for parameter 4, which is not yet defined corelib/src/CMakeFiles/rtabmap_core.dir/build.make:929: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o' failed make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o] Error 1 CMakeFiles/Makefile2:825: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:155: recipe for target 'all' failed make: *** [all] Error 2

The cmake output can be found here:
cmakeoutput2.txt
@matlabbe
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It is gtsam 4.3. rtabmap is currently tested only with gtsam 4.0

@matlabbe
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With latest gtsam:

#0 42.06 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:53:
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:66:40: error: ‘none’ is not a member of ‘boost’
#0 42.06    66 |       OptionalJacobian<2,3> H = boost::none) const;
#0 42.06       |                                        ^~~~
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: In member function ‘void rtabmap::GravityFactor::serialize(ARCHIVE&, unsigned int)’:
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:72:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
#0 42.06    72 |     ar & boost::serialization::make_nvp("nZ_", const_cast<Unit3&>(nZ_));
#0 42.06       |                                ^~~~~~~~
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:73:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
#0 42.06    73 |     ar & boost::serialization::make_nvp("bRef_", const_cast<Unit3&>(bRef_));
#0 42.06       |                                ^~~~~~~~
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: At global scope:
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:88:18: error: ‘shared_ptr’ in namespace ‘boost’ does not name a template type
#0 42.06    88 |   typedef boost::shared_ptr<Rot3GravityFactor> shared_ptr;
#0 42.06       |                  ^~~~~~~~~~
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:127:7: error: ‘boost::optional’ has not been declared
#0 42.06   127 |       boost::optional<Matrix&> H = boost::none) const {
#0 42.06       |       ^~~~~
#0 42.06 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:127:22: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.06   127 |       boost::optional<Matrix&> H = boost::none) const {
#0 42.06       |                      ^
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: In member function ‘virtual gtsam::NonlinearFactor::shared_ptr rtabmap::Rot3GravityFactor::clone() const’:
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:114:19: error: ‘static_pointer_cast’ is not a member of ‘boost’
#0 42.07   114 |     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
#0 42.07       |                   ^~~~~~~~~~~~~~~~~~~
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:114:19: note: suggested alternatives:
#0 42.07 In file included from /usr/include/c++/11/memory:77,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core.hpp:53,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/core.hpp:48,
#0 42.07                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
#0 42.07                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Link.h:33,
#0 42.07                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Graph.h:36,
#0 42.07                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:27:
#0 42.07 /usr/include/c++/11/bits/shared_ptr.h:582:5: note:   ‘std::static_pointer_cast’
#0 42.07   582 |     static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
#0 42.07       |     ^~~~~~~~~~~~~~~~~~~
#0 42.07 In file included from /usr/include/c++/11/bits/shared_ptr.h:53,
#0 42.07                  from /usr/include/c++/11/memory:77,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core.hpp:53,
#0 42.07                  from /usr/local/include/opencv4/opencv2/core/core.hpp:48,
#0 42.07                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
#0 42.07                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Link.h:33,
#0 42.07                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Graph.h:36,
#0 42.07                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:27:
#0 42.07 /usr/include/c++/11/bits/shared_ptr_base.h:1546:5: note:   ‘std::static_pointer_cast’
#0 42.07  1546 |     static_pointer_cast(const __shared_ptr<_Tp1, _Lp>& __r) noexcept
#0 42.07       |     ^~~~~~~~~~~~~~~~~~~
#0 42.07 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:53:
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:114:61: error: expected primary-expression before ‘>’ token
#0 42.07   114 |     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
#0 42.07       |                                                             ^
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:115:58: error: invalid new-expression of abstract class type ‘rtabmap::Rot3GravityFactor’
#0 42.07   115 |         gtsam::NonlinearFactor::shared_ptr(new This(*this)));
#0 42.07       |                                                          ^
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:81:7: note:   because the following virtual functions are pure within ‘rtabmap::Rot3GravityFactor’:
#0 42.07    81 | class Rot3GravityFactor: public NoiseModelFactor1<Rot3>, public GravityFactor {
#0 42.07       |       ^~~~~~~~~~~~~~~~~
#0 42.07 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.07                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.07                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.07 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {gtsam::Rot3}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.07   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.07       |                  ^~~~~~~~~~~~~
#0 42.07 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:53:
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: In member function ‘virtual gtsam::Vector rtabmap::Rot3GravityFactor::evaluateError(const gtsam::Rot3&, int) const’:
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:128:31: error: ‘H’ was not declared in this scope; did you mean ‘gtsam::symbol_shorthand::H’?
#0 42.07   128 |     return attitudeError(nRb, H);
#0 42.07       |                               ^
#0 42.07       |                               gtsam::symbol_shorthand::H
#0 42.07 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:42:
#0 42.07 /usr/local/include/gtsam/inference/Symbol.h:155:12: note: ‘gtsam::symbol_shorthand::H’ declared here
#0 42.07   155 | inline Key H(std::uint64_t j) { return Symbol('h', j); }
#0 42.07       |            ^
#0 42.07 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:53:
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: In member function ‘void rtabmap::Rot3GravityFactor::serialize(ARCHIVE&, unsigned int)’:
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:143:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
#0 42.07   143 |     ar & boost::serialization::make_nvp("NoiseModelFactor1",
#0 42.07       |                                ^~~~~~~~
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:144:31: error: ‘base_object’ is not a member of ‘boost::serialization’
#0 42.07   144 |         boost::serialization::base_object<Base>(*this));
#0 42.07       |                               ^~~~~~~~~~~
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:144:47: error: expected primary-expression before ‘>’ token
#0 42.07   144 |         boost::serialization::base_object<Base>(*this));
#0 42.07       |                                               ^
#0 42.07 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:145:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
#0 42.07   145 |     ar & boost::serialization::make_nvp("GravityFactor",
#0 42.07       |                                ^~~~~~~~
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:146:31: error: ‘base_object’ is not a member of ‘boost::serialization’
#0 42.08   146 |         boost::serialization::base_object<GravityFactor>(*this));
#0 42.08       |                               ^~~~~~~~~~~
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:146:56: error: expected primary-expression before ‘>’ token
#0 42.08   146 |         boost::serialization::base_object<GravityFactor>(*this));
#0 42.08       |                                                        ^
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: At global scope:
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:166:18: error: ‘shared_ptr’ in namespace ‘boost’ does not name a template type
#0 42.08   166 |   typedef boost::shared_ptr<Pose3GravityFactor> shared_ptr;
#0 42.08       |                  ^~~~~~~~~~
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:205:7: error: ‘boost::optional’ has not been declared
#0 42.08   205 |       boost::optional<Matrix&> H = boost::none) const {
#0 42.08       |       ^~~~~
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:205:22: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.08   205 |       boost::optional<Matrix&> H = boost::none) const {
#0 42.08       |                      ^
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: In member function ‘virtual gtsam::NonlinearFactor::shared_ptr rtabmap::Pose3GravityFactor::clone() const’:
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:192:19: error: ‘static_pointer_cast’ is not a member of ‘boost’
#0 42.08   192 |     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
#0 42.08       |                   ^~~~~~~~~~~~~~~~~~~
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:192:19: note: suggested alternatives:
#0 42.08 In file included from /usr/include/c++/11/memory:77,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core.hpp:53,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/core.hpp:48,
#0 42.08                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
#0 42.08                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Link.h:33,
#0 42.08                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Graph.h:36,
#0 42.08                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:27:
#0 42.08 /usr/include/c++/11/bits/shared_ptr.h:582:5: note:   ‘std::static_pointer_cast’
#0 42.08   582 |     static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
#0 42.08       |     ^~~~~~~~~~~~~~~~~~~
#0 42.08 In file included from /usr/include/c++/11/bits/shared_ptr.h:53,
#0 42.08                  from /usr/include/c++/11/memory:77,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/cvstd_wrapper.hpp:11,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/cvstd.hpp:81,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/base.hpp:58,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core.hpp:53,
#0 42.08                  from /usr/local/include/opencv4/opencv2/core/core.hpp:48,
#0 42.08                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:37,
#0 42.08                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Link.h:33,
#0 42.08                  from /root/rtabmap/corelib/src/../include/rtabmap/core/Graph.h:36,
#0 42.08                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:27:
#0 42.08 /usr/include/c++/11/bits/shared_ptr_base.h:1546:5: note:   ‘std::static_pointer_cast’
#0 42.08  1546 |     static_pointer_cast(const __shared_ptr<_Tp1, _Lp>& __r) noexcept
#0 42.08       |     ^~~~~~~~~~~~~~~~~~~
#0 42.08 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:53:
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:192:61: error: expected primary-expression before ‘>’ token
#0 42.08   192 |     return boost::static_pointer_cast<gtsam::NonlinearFactor>(
#0 42.08       |                                                             ^
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:193:58: error: invalid new-expression of abstract class type ‘rtabmap::Pose3GravityFactor’
#0 42.08   193 |         gtsam::NonlinearFactor::shared_ptr(new This(*this)));
#0 42.08       |                                                          ^
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:158:7: note:   because the following virtual functions are pure within ‘rtabmap::Pose3GravityFactor’:
#0 42.08   158 | class Pose3GravityFactor: public NoiseModelFactor1<Pose3>,
#0 42.08       |       ^~~~~~~~~~~~~~~~~~
#0 42.08 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.08                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.08                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.08 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {gtsam::Pose3}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.08   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.08       |                  ^~~~~~~~~~~~~
#0 42.08 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:53:
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: In member function ‘virtual gtsam::Vector rtabmap::Pose3GravityFactor::evaluateError(const gtsam::Pose3&, int) const’:
#0 42.08 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:206:46: error: ‘H’ was not declared in this scope; did you mean ‘gtsam::symbol_shorthand::H’?
#0 42.08   206 |     Vector e = attitudeError(nTb.rotation(), H);
#0 42.08       |                                              ^
#0 42.08       |                                              gtsam::symbol_shorthand::H
#0 42.08 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:42:
#0 42.08 /usr/local/include/gtsam/inference/Symbol.h:155:12: note: ‘gtsam::symbol_shorthand::H’ declared here
#0 42.08   155 | inline Key H(std::uint64_t j) { return Symbol('h', j); }
#0 42.08       |            ^
#0 42.10 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:53:
#0 42.10 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:210:21: warning: left operand of comma operator has no effect [-Wunused-value]
#0 42.10   210 |       H->block<2,3>(0,0) = H23;
#0 42.10       |                     ^
#0 42.10 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:210:19: error: lvalue required as left operand of assignment
#0 42.10   210 |       H->block<2,3>(0,0) = H23;
#0 42.10       |                  ~^~~~~~
#0 42.10 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h: In member function ‘void rtabmap::Pose3GravityFactor::serialize(ARCHIVE&, unsigned int)’:
#0 42.10 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:227:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
#0 42.10   227 |     ar & boost::serialization::make_nvp("NoiseModelFactor1",
#0 42.10       |                                ^~~~~~~~
#0 42.10 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:228:31: error: ‘base_object’ is not a member of ‘boost::serialization’
#0 42.10   228 |         boost::serialization::base_object<Base>(*this));
#0 42.10       |                               ^~~~~~~~~~~
#0 42.10 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:228:47: error: expected primary-expression before ‘>’ token
#0 42.10   228 |         boost::serialization::base_object<Base>(*this));
#0 42.10       |                                               ^
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:229:32: error: ‘make_nvp’ is not a member of ‘boost::serialization’
#0 42.11   229 |     ar & boost::serialization::make_nvp("GravityFactor",
#0 42.11       |                                ^~~~~~~~
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:230:31: error: ‘base_object’ is not a member of ‘boost::serialization’
#0 42.11   230 |         boost::serialization::base_object<GravityFactor>(*this));
#0 42.11       |                               ^~~~~~~~~~~
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/GravityFactor.h:230:56: error: expected primary-expression before ‘>’ token
#0 42.11   230 |         boost::serialization::base_object<GravityFactor>(*this));
#0 42.11       |                                                        ^
#0 42.11 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:54:
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYFactor.h: At global scope:
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYFactor.h:44:47: error: ‘boost::optional’ has not been declared
#0 42.11    44 |   gtsam::Vector evaluateError(const VALUE& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
#0 42.11       |                                               ^~~~~
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYFactor.h:44:62: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.11    44 |   gtsam::Vector evaluateError(const VALUE& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
#0 42.11       |                                                              ^
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYFactor.h: In member function ‘gtsam::Vector rtabmap::XYFactor<VALUE>::evaluateError(const VALUE&, int) const’:
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYFactor.h:48:9: error: ‘H’ was not declared in this scope; did you mean ‘gtsam::symbol_shorthand::H’?
#0 42.11    48 |     if (H) *H = (gtsam::Matrix23() << 1.0, 0.0, 0.0,
#0 42.11       |         ^
#0 42.11       |         gtsam::symbol_shorthand::H
#0 42.11 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:42:
#0 42.11 /usr/local/include/gtsam/inference/Symbol.h:155:12: note: ‘gtsam::symbol_shorthand::H’ declared here
#0 42.11   155 | inline Key H(std::uint64_t j) { return Symbol('h', j); }
#0 42.11       |            ^
#0 42.11 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:55:
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h: At global scope:
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h:44:54: error: ‘boost::optional’ has not been declared
#0 42.11    44 |   gtsam::Vector evaluateError(const gtsam::Pose3& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
#0 42.11       |                                                      ^~~~~
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h:44:69: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.11    44 |   gtsam::Vector evaluateError(const gtsam::Pose3& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
#0 42.11       |                                                                     ^
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h:51:55: error: ‘boost::optional’ has not been declared
#0 42.11    51 |   gtsam::Vector evaluateError(const gtsam::Point3& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
#0 42.11       |                                                       ^~~~~
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h:51:70: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.11    51 |   gtsam::Vector evaluateError(const gtsam::Point3& p, boost::optional<gtsam::Matrix&> H = boost::none) const {
#0 42.11       |                                                                      ^
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h: In member function ‘gtsam::Vector rtabmap::XYZFactor<VALUE>::evaluateError(const gtsam::Pose3&, int) const’:
#0 42.11 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h:45:8: error: ‘H’ was not declared in this scope; did you mean ‘gtsam::symbol_shorthand::H’?
#0 42.11    45 |     if(H)
#0 42.11       |        ^
#0 42.11       |        gtsam::symbol_shorthand::H
#0 42.11 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:42:
#0 42.11 /usr/local/include/gtsam/inference/Symbol.h:155:12: note: ‘gtsam::symbol_shorthand::H’ declared here
#0 42.11   155 | inline Key H(std::uint64_t j) { return Symbol('h', j); }
#0 42.11       |            ^
#0 42.16 In file included from /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:14,
#0 42.16                  from /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:17,
#0 42.16                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:58:
#0 42.16 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h: In instantiation of ‘class rtabmap::DerivedValue<vertigo::SwitchVariableLinear>’:
#0 42.16 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:22:49:   required from here
#0 42.16 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h:75:43: error: invalid covariant return type for ‘boost::shared_ptr<gtsam::Value> rtabmap::DerivedValue<DERIVED>::clone() const [with DERIVED = vertigo::SwitchVariableLinear]’
#0 42.16    75 |   virtual boost::shared_ptr<gtsam::Value> clone() const {
#0 42.16       |                                           ^~~~~
#0 42.16 In file included from /usr/local/include/gtsam/base/GenericValue.h:24,
#0 42.16                  from /usr/local/include/gtsam/nonlinear/Values.h:29,
#0 42.16                  from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:24,
#0 42.16                  from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.16                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.16                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.16 /usr/local/include/gtsam/base/Value.h:49:36: note: overridden function is ‘virtual std::shared_ptr<gtsam::Value> gtsam::Value::clone() const’
#0 42.16    49 |     virtual std::shared_ptr<Value> clone() const = 0;
#0 42.16       |                                    ^~~~~
#0 42.16 In file included from /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:17,
#0 42.16                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:58:
#0 42.16 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h: At global scope:
#0 42.16 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:79:9: error: ‘boost::optional’ has not been declared
#0 42.16    79 |         boost::optional<gtsam::Matrix&> H1=boost::none,
#0 42.16       |         ^~~~~
#0 42.16 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:79:24: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.16    79 |         boost::optional<gtsam::Matrix&> H1=boost::none,
#0 42.16       |                        ^
#0 42.18 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h: In member function ‘vertigo::SwitchVariableLinear vertigo::SwitchVariableLinear::between(const vertigo::SwitchVariableLinear&, int) const’:
#0 42.18 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:81:10: error: ‘H1’ was not declared in this scope; did you mean ‘y1’?
#0 42.18    81 |       if(H1) *H1 = -gtsam::Matrix::Identity(1, 1);
#0 42.18       |          ^~
#0 42.18       |          y1
#0 42.22 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:82:10: error: ‘H2’ was not declared in this scope; did you mean ‘l2’?
#0 42.22    82 |       if(H2) *H2 = gtsam::Matrix::Identity(1, 1);
#0 42.22       |          ^~
#0 42.22       |          l2
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h: At global scope:
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:119:34: error: ‘none’ is not a member of ‘boost’
#0 42.23   119 |   ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#0 42.23       |                                  ^~~~
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:119:70: error: ‘none’ is not a member of ‘boost’
#0 42.23   119 |   ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#0 42.23       |                                                                      ^~~~
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:123:35: error: ‘none’ is not a member of ‘boost’
#0 42.23   123 |         ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
#0 42.23       |                                   ^~~~
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:123:67: error: ‘none’ is not a member of ‘boost’
#0 42.23   123 |         ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
#0 42.23       |                                                                   ^~~~
#0 42.23 In file included from /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableLinear.h:14,
#0 42.23                  from /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:17,
#0 42.23                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:58:
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h: In instantiation of ‘class rtabmap::DerivedValue<vertigo::SwitchVariableSigmoid>’:
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:22:50:   required from here
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/DerivedValue.h:75:43: error: invalid covariant return type for ‘boost::shared_ptr<gtsam::Value> rtabmap::DerivedValue<DERIVED>::clone() const [with DERIVED = vertigo::SwitchVariableSigmoid]’
#0 42.23    75 |   virtual boost::shared_ptr<gtsam::Value> clone() const {
#0 42.23       |                                           ^~~~~
#0 42.23 In file included from /usr/local/include/gtsam/base/GenericValue.h:24,
#0 42.23                  from /usr/local/include/gtsam/nonlinear/Values.h:29,
#0 42.23                  from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:24,
#0 42.23                  from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.23                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.23                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.23 /usr/local/include/gtsam/base/Value.h:49:36: note: overridden function is ‘virtual std::shared_ptr<gtsam::Value> gtsam::Value::clone() const’
#0 42.23    49 |     virtual std::shared_ptr<Value> clone() const = 0;
#0 42.23       |                                    ^~~~~
#0 42.23 In file included from /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:18,
#0 42.23                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:58:
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:79:9: error: ‘boost::optional’ has not been declared
#0 42.23    79 |         boost::optional<gtsam::Matrix&> H1=boost::none,
#0 42.23       |         ^~~~~
#0 42.23 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:79:24: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.23    79 |         boost::optional<gtsam::Matrix&> H1=boost::none,
#0 42.23       |                        ^
#0 42.26 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h: In member function ‘vertigo::SwitchVariableSigmoid vertigo::SwitchVariableSigmoid::between(const vertigo::SwitchVariableSigmoid&, int) const’:
#0 42.26 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:81:10: error: ‘H1’ was not declared in this scope; did you mean ‘y1’?
#0 42.26    81 |       if(H1) *H1 = -gtsam::Matrix::Identity(1, 1);
#0 42.26       |          ^~
#0 42.26       |          y1
#0 42.28 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:82:10: error: ‘H2’ was not declared in this scope; did you mean ‘l2’?
#0 42.28    82 |       if(H2) *H2 = gtsam::Matrix::Identity(1, 1);
#0 42.28       |          ^~
#0 42.28       |          l2
#0 42.28 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h: At global scope:
#0 42.28 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:120:34: error: ‘none’ is not a member of ‘boost’
#0 42.28   120 |   ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#0 42.28       |                                  ^~~~
#0 42.28 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:120:70: error: ‘none’ is not a member of ‘boost’
#0 42.28   120 |   ChartJacobian Horigin = boost::none, ChartJacobian Hother = boost::none) {
#0 42.28       |                                                                      ^~~~
#0 42.28 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:124:35: error: ‘none’ is not a member of ‘boost’
#0 42.28   124 |         ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
#0 42.28       |                                   ^~~~
#0 42.29 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/switchVariableSigmoid.h:124:67: error: ‘none’ is not a member of ‘boost’
#0 42.29   124 |         ChartJacobian H1 = boost::none, ChartJacobian H2 = boost::none) {
#0 42.29       |                                                                   ^~~~
#0 42.29 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:58:
#0 42.29 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:33:11: error: ‘boost::optional’ has not been declared
#0 42.29    33 |           boost::optional<gtsam::Matrix&> H1 = boost::none,
#0 42.29       |           ^~~~~
#0 42.29 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:33:26: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.29    33 |           boost::optional<gtsam::Matrix&> H1 = boost::none,
#0 42.29       |                          ^
#0 42.31 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h: In member function ‘gtsam::Vector vertigo::BetweenFactorSwitchableLinear<VALUE>::evaluateError(const VALUE&, const VALUE&, const vertigo::SwitchVariableLinear&, int) const’:
#0 42.31 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:39:69: error: ‘H1’ was not declared in this scope; did you mean ‘y1’?
#0 42.31    39 |           gtsam::Vector error = betweenFactor.evaluateError(p1, p2, H1, H2);
#0 42.31       |                                                                     ^~
#0 42.31       |                                                                     y1
#0 42.33 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:39:73: error: ‘H2’ was not declared in this scope; did you mean ‘p2’?
#0 42.33    39 |           gtsam::Vector error = betweenFactor.evaluateError(p1, p2, H1, H2);
#0 42.33       |                                                                         ^~
#0 42.33       |                                                                         p2
#0 42.35 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:45:15: error: ‘H3’ was not declared in this scope
#0 42.35    45 |           if (H3) *H3 = error;
#0 42.35       |               ^~
#0 42.35 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h: At global scope:
#0 42.35 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:67:11: error: ‘boost::optional’ has not been declared
#0 42.35    67 |           boost::optional<gtsam::Matrix&> H1 = boost::none,
#0 42.35       |           ^~~~~
#0 42.35 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:67:26: error: expected ‘,’ or ‘...’ before ‘<’ token
#0 42.35    67 |           boost::optional<gtsam::Matrix&> H1 = boost::none,
#0 42.35       |                          ^
#0 42.37 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h: In member function ‘gtsam::Vector vertigo::BetweenFactorSwitchableSigmoid<VALUE>::evaluateError(const VALUE&, const VALUE&, const vertigo::SwitchVariableSigmoid&, int) const’:
#0 42.37 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:73:67: error: ‘H1’ was not declared in this scope; did you mean ‘y1’?
#0 42.37    73 |         gtsam::Vector error = betweenFactor.evaluateError(p1, p2, H1, H2);
#0 42.37       |                                                                   ^~
#0 42.37       |                                                                   y1
#0 42.39 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:73:71: error: ‘H2’ was not declared in this scope; did you mean ‘p2’?
#0 42.39    73 |         gtsam::Vector error = betweenFactor.evaluateError(p1, p2, H1, H2);
#0 42.39       |                                                                       ^~
#0 42.39       |                                                                       p2
#0 42.41 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:82:13: error: ‘H3’ was not declared in this scope
#0 42.41    82 |         if (H3) *H3 = error /* (w*(1.0-w))*/;  // sig(x)*(1-sig(x)) is the derivative of sig(x) wrt. x
#0 42.41       |             ^~
#0 42.44 [ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryDVO.cpp.o
#0 42.45 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp: In member function ‘virtual std::map<int, rtabmap::Transform> rtabmap::OptimizerGTSAM::optimize(int, const std::map<int, rtabmap::Transform>&, const std::multimap<int, rtabmap::Link>&, cv::Mat&, std::__cxx11::list<std::map<int, rtabmap::Transform> >*, double*, int*)’:
#0 42.45 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:246:176: error: invalid cast to abstract class type ‘rtabmap::XYFactor<Eigen::Matrix<double, 2, 1> >’
#0 42.45   246 |                                                         graph.add(XYFactor<gtsam::Point2>(id1, gtsam::Point2(iter->second.transform().x(), iter->second.transform().y()), model));
#0 42.45       |                                                                                                                                                                                ^
#0 42.45 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:54:
#0 42.45 /root/rtabmap/corelib/src/optimizer/gtsam/XYFactor.h:24:7: note:   because the following virtual functions are pure within ‘rtabmap::XYFactor<Eigen::Matrix<double, 2, 1> >’:
#0 42.45    24 | class XYFactor: public gtsam::NoiseModelFactor1<VALUE> {
#0 42.45       |       ^~~~~~~~
#0 42.45 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.45                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.45                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.45 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {Eigen::Matrix<double, 2, 1, 0, 2, 1>}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.45   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.45       |                  ^~~~~~~~~~~~~
#0 42.45 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:253:175: error: invalid cast to abstract class type ‘rtabmap::XYFactor<gtsam::Pose2>’
#0 42.45   253 |                                                         graph.add(XYFactor<gtsam::Pose2>(id1, gtsam::Point2(iter->second.transform().x(), iter->second.transform().y()), model));
#0 42.45       |                                                                                                                                                                               ^
#0 42.45 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:54:
#0 42.45 /root/rtabmap/corelib/src/optimizer/gtsam/XYFactor.h:24:7: note:   because the following virtual functions are pure within ‘rtabmap::XYFactor<gtsam::Pose2>’:
#0 42.45    24 | class XYFactor: public gtsam::NoiseModelFactor1<VALUE> {
#0 42.45       |       ^~~~~~~~
#0 42.45 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.45                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.45                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.45 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {gtsam::Pose2}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.45   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.45       |                  ^~~~~~~~~~~~~
#0 42.46 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:283:207: error: invalid cast to abstract class type ‘rtabmap::XYZFactor<Eigen::Matrix<double, 3, 1> >’
#0 42.46   283 |                                                         graph.add(XYZFactor<gtsam::Point3>(id1, gtsam::Point3(iter->second.transform().x(), iter->second.transform().y(), iter->second.transform().z()), model));
#0 42.46       |                                                                                                                                                                                                               ^
#0 42.46 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:55:
#0 42.46 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h:24:7: note:   because the following virtual functions are pure within ‘rtabmap::XYZFactor<Eigen::Matrix<double, 3, 1> >’:
#0 42.46    24 | class XYZFactor: public gtsam::NoiseModelFactor1<VALUE> {
#0 42.46       |       ^~~~~~~~~
#0 42.46 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.46                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.46                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.46 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {Eigen::Matrix<double, 3, 1, 0, 3, 1>}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.46   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.46       |                  ^~~~~~~~~~~~~
#0 42.46 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:293:206: error: invalid cast to abstract class type ‘rtabmap::XYZFactor<gtsam::Pose3>’
#0 42.46   293 |                                                         graph.add(XYZFactor<gtsam::Pose3>(id1, gtsam::Point3(iter->second.transform().x(), iter->second.transform().y(), iter->second.transform().z()), model));
#0 42.46       |                                                                                                                                                                                                              ^
#0 42.46 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:55:
#0 42.46 /root/rtabmap/corelib/src/optimizer/gtsam/XYZFactor.h:24:7: note:   because the following virtual functions are pure within ‘rtabmap::XYZFactor<gtsam::Pose3>’:
#0 42.46    24 | class XYZFactor: public gtsam::NoiseModelFactor1<VALUE> {
#0 42.46       |       ^~~~~~~~~
#0 42.46 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.46                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.46                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.46 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {gtsam::Pose3}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.46   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.46       |                  ^~~~~~~~~~~~~
#0 42.48 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:319:106: error: invalid cast to abstract class type ‘rtabmap::Pose3GravityFactor’
#0 42.48   319 |                                         graph.add(Pose3GravityFactor(iter->first, nG, model, Unit3(0,0,1)));
#0 42.48       |                                                                                                          ^
#0 42.50 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:455:272: error: invalid cast to abstract class type ‘vertigo::BetweenFactorSwitchableLinear<gtsam::Pose2>’
#0 42.50   455 |                                                 graph.add(vertigo::BetweenFactorSwitchableLinear<gtsam::Pose2>(id1, id2, gtsam::Symbol('s', switchCounter++), gtsam::Pose2(iter->second.transform().x(), iter->second.transform().y(), iter->second.transform().theta()), model));
#0 42.50       |                                                                                                                                                                                                                                                                                ^
#0 42.50 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:58:
#0 42.50 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:24:9: note:   because the following virtual functions are pure within ‘vertigo::BetweenFactorSwitchableLinear<gtsam::Pose2>’:
#0 42.50    24 |   class BetweenFactorSwitchableLinear : public gtsam::NoiseModelFactor3<VALUE, VALUE, SwitchVariableLinear>
#0 42.50       |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#0 42.51 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.51                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.51                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.51 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {gtsam::Pose2, gtsam::Pose2, vertigo::SwitchVariableLinear}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.51   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.51       |                  ^~~~~~~~~~~~~
#0 42.51 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:484:216: error: invalid cast to abstract class type ‘vertigo::BetweenFactorSwitchableLinear<gtsam::Pose3>’
#0 42.51   484 |                                                 graph.add(vertigo::BetweenFactorSwitchableLinear<gtsam::Pose3>(id1, id2, gtsam::Symbol('s', switchCounter++), gtsam::Pose3(iter->second.transform().toEigen4d()), model));
#0 42.51       |                                                                                                                                                                                                                        ^
#0 42.51 In file included from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:58:
#0 42.51 /root/rtabmap/corelib/src/optimizer/vertigo/gtsam/betweenFactorSwitchable.h:24:9: note:   because the following virtual functions are pure within ‘vertigo::BetweenFactorSwitchableLinear<gtsam::Pose3>’:
#0 42.51    24 |   class BetweenFactorSwitchableLinear : public gtsam::NoiseModelFactor3<VALUE, VALUE, SwitchVariableLinear>
#0 42.51       |         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#0 42.51 In file included from /usr/local/include/gtsam/nonlinear/PriorFactor.h:18,
#0 42.51                  from /usr/local/include/gtsam/slam/PriorFactor.h:20,
#0 42.51                  from /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:43:
#0 42.51 /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note:     ‘gtsam::Vector gtsam::NoiseModelFactorN<ValueTypes>::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN<ValueTypes>::OptionalMatrixTypeT<ValueTypes>...) const [with ValueTypes = {gtsam::Pose3, gtsam::Pose3, vertigo::SwitchVariableLinear}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
#0 42.51   639 |   virtual Vector evaluateError(const ValueTypes&... x,
#0 42.51       |                  ^~~~~~~~~~~~~
#0 42.51 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:530:52: error: ‘const_iterator’ is not a member of ‘gtsam::Values’
#0 42.51   530 |                                 for(gtsam::Values::const_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
#0 42.51       |                                                    ^~~~~~~~~~~~~~
#0 42.53 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:530:101: error: ‘iter’ was not declared in this scope; did you mean ‘it’?
#0 42.53   530 |                                 for(gtsam::Values::const_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
#0 42.53       |                                                                                                     ^~~~
#0 42.53       |                                                                                                     it
#0 42.53 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:539:111: error: expected primary-expression before ‘>’ token
#0 42.53   539 |                                                                 gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.53       |                                                                                                               ^
#0 42.53 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:539:113: error: expected primary-expression before ‘)’ token
#0 42.53   539 |                                                                 gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.53       |                                                                                                                 ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:547:119: error: expected primary-expression before ‘>’ token
#0 42.54   547 |                                                                         gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.54       |                                                                                                                       ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:547:121: error: expected primary-expression before ‘)’ token
#0 42.54   547 |                                                                         gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.54       |                                                                                                                         ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:553:121: error: expected primary-expression before ‘>’ token
#0 42.54   553 |                                                                         gtsam::Point2 p = iter->value.cast<gtsam::Point2>();
#0 42.54       |                                                                                                                         ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:553:123: error: expected primary-expression before ‘)’ token
#0 42.54   553 |                                                                         gtsam::Point2 p = iter->value.cast<gtsam::Point2>();
#0 42.54       |                                                                                                                           ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:562:111: error: expected primary-expression before ‘>’ token
#0 42.54   562 |                                                                 gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.54       |                                                                                                               ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:562:113: error: expected primary-expression before ‘)’ token
#0 42.54   562 |                                                                 gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.54       |                                                                                                                 ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:569:119: error: expected primary-expression before ‘>’ token
#0 42.54   569 |                                                                         gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.54       |                                                                                                                       ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:569:121: error: expected primary-expression before ‘)’ token
#0 42.54   569 |                                                                         gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.54       |                                                                                                                         ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:575:121: error: expected primary-expression before ‘>’ token
#0 42.54   575 |                                                                         gtsam::Point3 p = iter->value.cast<gtsam::Point3>();
#0 42.54       |                                                                                                                         ^
#0 42.54 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:575:123: error: expected primary-expression before ‘)’ token
#0 42.54   575 |                                                                         gtsam::Point3 p = iter->value.cast<gtsam::Point3>();
#0 42.54       |                                                                                                                           ^
#0 42.55 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:633:36: error: ‘const_iterator’ is not a member of ‘gtsam::Values’
#0 42.55   633 |                 for(gtsam::Values::const_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
#0 42.55       |                                    ^~~~~~~~~~~~~~
#0 42.57 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:633:85: error: ‘iter’ was not declared in this scope; did you mean ‘it’?
#0 42.57   633 |                 for(gtsam::Values::const_iterator iter=optimizer->values().begin(); iter!=optimizer->values().end(); ++iter)
#0 42.57       |                                                                                     ^~~~
#0 42.57       |                                                                                     it
#0 42.57 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:643:95: error: expected primary-expression before ‘>’ token
#0 42.57   643 |                                                 gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.57       |                                                                                               ^
#0 42.57 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:643:97: error: expected primary-expression before ‘)’ token
#0 42.57   643 |                                                 gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.57       |                                                                                                 ^
#0 42.57 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:651:103: error: expected primary-expression before ‘>’ token
#0 42.57   651 |                                                         gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.57       |                                                                                                       ^
#0 42.57 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:651:105: error: expected primary-expression before ‘)’ token
#0 42.57   651 |                                                         gtsam::Pose2 p = iter->value.cast<gtsam::Pose2>();
#0 42.57       |                                                                                                         ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:657:105: error: expected primary-expression before ‘>’ token
#0 42.58   657 |                                                         gtsam::Point2 p = iter->value.cast<gtsam::Point2>();
#0 42.58       |                                                                                                         ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:657:107: error: expected primary-expression before ‘)’ token
#0 42.58   657 |                                                         gtsam::Point2 p = iter->value.cast<gtsam::Point2>();
#0 42.58       |                                                                                                           ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:666:95: error: expected primary-expression before ‘>’ token
#0 42.58   666 |                                                 gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.58       |                                                                                               ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:666:97: error: expected primary-expression before ‘)’ token
#0 42.58   666 |                                                 gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.58       |                                                                                                 ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:673:103: error: expected primary-expression before ‘>’ token
#0 42.58   673 |                                                         gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.58       |                                                                                                       ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:673:105: error: expected primary-expression before ‘)’ token
#0 42.58   673 |                                                         gtsam::Pose3 p = iter->value.cast<gtsam::Pose3>();
#0 42.58       |                                                                                                         ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:679:105: error: expected primary-expression before ‘>’ token
#0 42.58   679 |                                                         gtsam::Point3 p = iter->value.cast<gtsam::Point3>();
#0 42.58       |                                                                                                         ^
#0 42.58 /root/rtabmap/corelib/src/optimizer/OptimizerGTSAM.cpp:679:107: error: expected primary-expression before ‘)’ token
#0 42.58   679 |                                                         gtsam::Point3 p = iter->value.cast<gtsam::Point3>();
#0 42.58       |                                                                                                           ^
#0 42.61 [ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryOkvis.cpp.o
#0 44.31 [ 29%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryORBSLAM.cpp.o
#0 45.51 [ 29%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryLOAM.cpp.o
#0 47.85 [ 29%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryFLOAM.cpp.o
#0 47.92 [ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryMSCKF.cpp.o
#0 48.53 [ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o
#0 50.08 [ 30%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryOpenVINS.cpp.o
#0 50.46 [ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryOpen3D.cpp.o
#0 52.47 [ 31%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/IMU.cpp.o
#0 53.14 make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/build.make:930: corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o] Error 1
#0 53.14 make[2]: *** Waiting for unfinished jobs....
#0 67.61 make[1]: *** [CMakeFiles/Makefile2:826: corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
#0 67.61 make: *** [Makefile:156: all] Error 2

@matlabbe matlabbe linked a pull request May 14, 2023 that will close this issue
Fixed build with gtsam 4.3.0 #1033
Merged
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Fixed build with gtsam 4.3.0 introlab/rtabmap
2 participants
@matlabbe @cu-autobike