Hi know Ubuntu 20.04 isn't officially tested / supported, but given that we are now on 22.04 is there any update for support of current OS?
Below is my problem I've encountered, is this simply linked to Ubuntu 20.04 or actually other reason ? - Thanks
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NonFeature_ICP; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NonFeature_ICP; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan_Vec; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan_Vec; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Plan_Vec; int kNumResiduals = 3; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Plan; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Line; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Line; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Line; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6, 9, 6, 9>; Functor = Cost_NavState_PRV_Bias; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6, 9, 6, 9>; Functor = Cost_NavState_PRV_Bias; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_PRV_Bias; int kNumResiduals = 15; int ...Ns = {6, 9, 6, 9}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_PR_Ground; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_PR_Ground; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_PR_Ground; int kNumResiduals = 3; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
In file included from /usr/include/pcl-1.10/pcl/kdtree/kdtree.h:44,
from /usr/include/pcl-1.10/pcl/kdtree/kdtree_flann.h:43,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/MapManager/Map_Manager.h:3,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/Estimator/Estimator.h:19,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/src/lio/Estimator.cpp:1:
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f1; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:82:7: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f2; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:82:7: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f3; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: recursively required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f4; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: recursively required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::alpha_m; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: recursively required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
make[2]: *** [Livox-Mapping/LIO-Livox/CMakeFiles/PoseEstimation.dir/build.make:90: Livox-Mapping/LIO-Livox/CMakeFiles/PoseEstimation.dir/src/lio/Estimator.cpp.o] Error 1
In file included from /usr/local/include/ceres/autodiff_cost_function.h:130,
from /usr/local/include/ceres/ceres.h:37,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/utils/ceresfunc.h:3,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/Estimator/Estimator.h:20,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/src/lio/PoseEstimation.cpp:1:
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 3; ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = Cost_Initialization_Prior_R; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initialization_Prior_R; int kNumResiduals = 3; int ...Ns = {3}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 3; ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = Cost_Initialization_Prior_bv; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initialization_Prior_bv; int kNumResiduals = 3; int ...Ns = {3}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 9; ParameterDims = ceres::internal::ParameterDims<false, 3, 3, 3, 3, 3>; Functor = Cost_Initialization_IMU; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initialization_IMU; int kNumResiduals = 9; int ...Ns = {3, 3, 3, 3, 3}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3, 3, 3, 3, 3>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3, 3, 3, 3, 3>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3, 3, 3, 3, 3>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 3; ParameterDims = ceres::internal::ParameterDims<false, 4>; Functor = Cost_Initial_G; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initial_G; int kNumResiduals = 3; int ...Ns = {4}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 1; ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NonFeature_ICP; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NonFeature_ICP; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 3; ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan_Vec; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Plan_Vec; int kNumResiduals = 3; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 1; ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Plan; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 1; ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Line; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Line; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 15; ParameterDims = ceres::internal::ParameterDims<false, 6, 9, 6, 9>; Functor = Cost_NavState_PRV_Bias; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_PRV_Bias; int kNumResiduals = 15; int ...Ns = {6, 9, 6, 9}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6, 9, 6, 9>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6, 9, 6, 9>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6, 9, 6, 9>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 3; ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_PR_Ground; T = double]’:
/usr/local/include/ceres/autodiff_cost_function.h:211:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_PR_Ground; int kNumResiduals = 3; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/autodiff.h:314:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
314 | using Parameters = typename ParameterDims::Parameters;
| ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:347:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
347 | Make1stOrderPerturbations::Apply(parameters,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
348 | parameters_as_jets.data());
| ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:356:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 6>’
356 | Take1stOrderParts::Apply(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
357 | num_outputs, residuals_as_jets.data(), jacobians);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/ceres/internal/autodiff.h:151,
from /usr/local/include/ceres/autodiff_cost_function.h:130,
from /usr/local/include/ceres/ceres.h:37,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/utils/ceresfunc.h:3,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/Estimator/Estimator.h:20,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/src/lio/PoseEstimation.cpp:1:
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = Cost_Initialization_Prior_R; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = Cost_Initialization_Prior_R; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initialization_Prior_R; int kNumResiduals = 3; int ...Ns = {3}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
79 | functor, input, output, IsDynamic(), ParameterBlockIndices());
| ~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = Cost_Initialization_Prior_bv; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = Cost_Initialization_Prior_bv; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initialization_Prior_bv; int kNumResiduals = 3; int ...Ns = {3}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 3, 3, 3, 3, 3>; Functor = Cost_Initialization_IMU; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 3, 3, 3, 3, 3>; Functor = Cost_Initialization_IMU; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initialization_IMU; int kNumResiduals = 9; int ...Ns = {3, 3, 3, 3, 3}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 4>; Functor = Cost_Initial_G; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 4>; Functor = Cost_Initial_G; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_Initial_G; int kNumResiduals = 3; int ...Ns = {4}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NonFeature_ICP; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NonFeature_ICP; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NonFeature_ICP; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan_Vec; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan_Vec; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Plan_Vec; int kNumResiduals = 3; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Plan; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Plan; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Line; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_IMU_Line; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_IMU_Line; int kNumResiduals = 1; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6, 9, 6, 9>; Functor = Cost_NavState_PRV_Bias; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6, 9, 6, 9>; Functor = Cost_NavState_PRV_Bias; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_PRV_Bias; int kNumResiduals = 15; int ...Ns = {6, 9, 6, 9}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
/usr/local/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_PR_Ground; T = double]’:
/usr/local/include/ceres/internal/variadic_evaluate.h:107:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 6>; Functor = Cost_NavState_PR_Ground; T = double]’
/usr/local/include/ceres/autodiff_cost_function.h:208:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = Cost_NavState_PR_Ground; int kNumResiduals = 3; int ...Ns = {6}]’
/usr/local/include/ceres/autodiff_cost_function.h:201:8: required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:79:65: error: ‘ParameterBlockIndices’ was not declared in this scope
In file included from /usr/include/pcl-1.10/pcl/kdtree/kdtree.h:44,
from /usr/include/pcl-1.10/pcl/kdtree/kdtree_flann.h:43,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/MapManager/Map_Manager.h:3,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/include/Estimator/Estimator.h:19,
from /home/karl/catkin_ws/src/Livox-Mapping/LIO-Livox/src/lio/PoseEstimation.cpp:1:
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f1; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:82:7: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f2; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:82:7: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f3; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: recursively required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::f4; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: recursively required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h: In instantiation of ‘void pcl::DefaultFeatureRepresentation::NdCopyPointFunctor::operator()() [with Key = pcl::fields::alpha_m; PointDefault = pcl::PPFSignature]’:
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: recursively required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 1>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:87:51: required from ‘static void pcl::for_each_type_impl::execute(F) [with Iterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 0>; LastIterator = boost::mpl::v_iter<boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>, 5>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/for_each_type.h:98:92: required from ‘void pcl::for_each_type(F) [with Sequence = boost::mpl::vector<pcl::fields::f1, pcl::fields::f2, pcl::fields::f3, pcl::fields::f4, pcl::fields::alpha_m>; F = pcl::DefaultFeatureRepresentationpcl::PPFSignature::NdCopyPointFunctor]’
/usr/include/pcl-1.10/pcl/point_representation.h:310:40: required from ‘void pcl::DefaultFeatureRepresentation::copyToFloatArray(const PointDefault&, float*) const [with PointDefault = pcl::PPFSignature]’
/usr/include/pcl-1.10/pcl/point_representation.h:308:7: required from here
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: error: the value of ‘NrDims’ is not usable in a constant expression
/usr/include/pcl-1.10/pcl/point_representation.h:251:19: note: ‘NrDims’ was not initialized with a constant expression
251 | const int NrDims = pcl::traits::datatype<PointDefault, Key>::size;
| ^~~~~~
/usr/include/pcl-1.10/pcl/point_representation.h:252:48: note: in template argument for type ‘int’
252 | Helper<Key, FieldT, NrDims>::copyPoint (p1_, p2_, f_idx_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~
make[2]: *** [Livox-Mapping/LIO-Livox/CMakeFiles/PoseEstimation.dir/build.make:76: Livox-Mapping/LIO-Livox/CMakeFiles/PoseEstimation.dir/src/lio/PoseEstimation.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:3521: Livox-Mapping/LIO-Livox/CMakeFiles/PoseEstimation.dir/all] Error 2
[ 86%] Linking CXX executable /home/karl/catkin_ws/devel/lib/livox_mapping/livox_mapping
[ 86%] Built target livox_mapping
make: *** [Makefile:146: all] Error 2
Invoking "make -j8 -l8" failed
karl@karl-GL552VW:~/catkin_ws$
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