build error on Ubuntu 18.04

[cumtchenchang]

Thank you for your work. I encounted this this error when building this project.
canning dependencies of target okvis_multisensor_processing
[ 90%] Building CXX object okvis_multisensor_processing/CMakeFiles/okvis_multisensor_processing.dir/src/ImuFrameSynchronizer.cpp.o
[ 92%] Building CXX object okvis_multisensor_processing/CMakeFiles/okvis_multisensor_processing.dir/src/VioVisualizer.cpp.o
[ 93%] Building CXX object okvis_multisensor_processing/CMakeFiles/okvis_multisensor_processing.dir/src/ThreadedKFVio.cpp.o
[ 95%] Building CXX object okvis_multisensor_processing/CMakeFiles/okvis_multisensor_processing.dir/src/FrameSynchronizer.cpp.o
[ 96%] Linking CXX static library libokvis_multisensor_processing.a
[ 96%] Built target okvis_multisensor_processing
Scanning dependencies of target okvis_app_synchronous
[ 98%] Building CXX object CMakeFiles/okvis_app_synchronous.dir/okvis_apps/src/okvis_app_synchronous.cpp.o
[100%] Linking CXX executable okvis_app_synchronous
okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::setParameterization(unsigned long, ceres::LocalParameterization*)': Map.cpp:(.text+0x32a): undefined reference to ceres::Problem::SetParameterization(double*, ceres::LocalParameterization*)'
okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::Map()': Map.cpp:(.text+0xa94): undefined reference to ceres::Solver::Summary::Summary()'
Map.cpp:(.text+0xcd5): undefined reference to ceres::Problem::Problem(ceres::Problem::Options const&)' Map.cpp:(.text+0xd56): undefined reference to ceres::Problem::~Problem()'
Map.cpp:(.text+0xd90): undefined reference to ceres::LocalParameterization::~LocalParameterization()' Map.cpp:(.text+0xda7): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
Map.cpp:(.text+0xdc5): undefined reference to ceres::LocalParameterization::~LocalParameterization()' Map.cpp:(.text+0xde3): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
Map.cpp:(.text+0xe01): undefined reference to ceres::LocalParameterization::~LocalParameterization()' okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::setParameterBlockConstant(unsigned long)':
Map.cpp:(.text+0x1032): undefined reference to ceres::Problem::SetParameterBlockConstant(double*)' okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::setParameterBlockVariable(unsigned long)':
Map.cpp:(.text+0x1132): undefined reference to ceres::Problem::SetParameterBlockVariable(double*)' okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::removeResidualBlock(ceres::internal::ResidualBlock*)':
Map.cpp:(.text+0x369c): undefined reference to ceres::Problem::RemoveResidualBlock(ceres::internal::ResidualBlock*)' okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::removeParameterBlock(unsigned long)':
Map.cpp:(.text+0x3ae3): undefined reference to ceres::Problem::RemoveParameterBlock(double*)' okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::addParameterBlock(std::shared_ptrokvis::ceres::ParameterBlock, int, int)':
Map.cpp:(.text+0x3db2): undefined reference to ceres::Problem::AddParameterBlock(double*, int, ceres::LocalParameterization*)' Map.cpp:(.text+0x3e5d): undefined reference to ceres::Problem::AddParameterBlock(double*, int)'
okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function okvis::ceres::Map::addResidualBlock(std::shared_ptr<ceres::CostFunction>, ceres::LossFunction*, std::vector<std::shared_ptr<okvis::ceres::ParameterBlock>, std::allocator<std::shared_ptr<okvis::ceres::ParameterBlock> > >&)': Map.cpp:(.text+0x4073): undefined reference to ceres::Problem::AddResidualBlock(ceres::CostFunction*, ceres::LossFunction*, std::vector<double*, std::allocator<double*> > const&)'
okvis_ceres/libokvis_ceres.a(Map.cpp.o): In function std::_Sp_counted_ptr<ceres::Problem*, (__gnu_cxx::_Lock_policy)2>::_M_dispose()': Map.cpp:(.text._ZNSt15_Sp_counted_ptrIPN5ceres7ProblemELN9__gnu_cxx12_Lock_policyE2EE10_M_disposeEv[_ZNSt15_Sp_counted_ptrIPN5ceres7ProblemELN9__gnu_cxx12_Lock_policyE2EE10_M_disposeEv]+0xe): undefined reference to ceres::Problem::~Problem()'
okvis_ceres/libokvis_ceres.a(HomogeneousPointLocalParameterization.cpp.o): In function okvis::ceres::HomogeneousPointLocalParameterization::~HomogeneousPointLocalParameterization()': HomogeneousPointLocalParameterization.cpp:(.text._ZN5okvis5ceres37HomogeneousPointLocalParameterizationD2Ev[_ZN5okvis5ceres37HomogeneousPointLocalParameterizationD5Ev]+0xf): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(HomogeneousPointLocalParameterization.cpp.o): In function non-virtual thunk to okvis::ceres::HomogeneousPointLocalParameterization::~HomogeneousPointLocalParameterization()': HomogeneousPointLocalParameterization.cpp:(.text._ZN5okvis5ceres37HomogeneousPointLocalParameterizationD2Ev[_ZN5okvis5ceres37HomogeneousPointLocalParameterizationD5Ev]+0x33): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(HomogeneousPointLocalParameterization.cpp.o): In function okvis::ceres::HomogeneousPointLocalParameterization::~HomogeneousPointLocalParameterization()': HomogeneousPointLocalParameterization.cpp:(.text._ZN5okvis5ceres37HomogeneousPointLocalParameterizationD0Ev[_ZN5okvis5ceres37HomogeneousPointLocalParameterizationD5Ev]+0x13): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(HomogeneousPointLocalParameterization.cpp.o): In function non-virtual thunk to okvis::ceres::HomogeneousPointLocalParameterization::~HomogeneousPointLocalParameterization()': HomogeneousPointLocalParameterization.cpp:(.text._ZN5okvis5ceres37HomogeneousPointLocalParameterizationD0Ev[_ZN5okvis5ceres37HomogeneousPointLocalParameterizationD5Ev]+0x38): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(HomogeneousPointLocalParameterization.cpp.o):(.data.rel.ro._ZTIN5okvis5ceres37HomogeneousPointLocalParameterizationE[_ZTIN5okvis5ceres37HomogeneousPointLocalParameterizationE]+0x18): undefined reference to typeinfo for ceres::LocalParameterization' okvis_ceres/libokvis_ceres.a(HomogeneousPointLocalParameterization.cpp.o):(.data.rel.ro._ZTVN5okvis5ceres37HomogeneousPointLocalParameterizationE[_ZTVN5okvis5ceres37HomogeneousPointLocalParameterizationE]+0x30): undefined reference to ceres::LocalParameterization::MultiplyByJacobian(double const*, int, double const*, double*) const'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o): In function okvis::ceres::PoseLocalParameterization2d::~PoseLocalParameterization2d()': PoseLocalParameterization.cpp:(.text._ZN5okvis5ceres27PoseLocalParameterization2dD2Ev[_ZN5okvis5ceres27PoseLocalParameterization2dD5Ev]+0xf): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o): In function non-virtual thunk to okvis::ceres::PoseLocalParameterization2d::~PoseLocalParameterization2d()': PoseLocalParameterization.cpp:(.text._ZN5okvis5ceres27PoseLocalParameterization2dD2Ev[_ZN5okvis5ceres27PoseLocalParameterization2dD5Ev]+0x33): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o): In function okvis::ceres::PoseLocalParameterization2d::~PoseLocalParameterization2d()': PoseLocalParameterization.cpp:(.text._ZN5okvis5ceres27PoseLocalParameterization2dD0Ev[_ZN5okvis5ceres27PoseLocalParameterization2dD5Ev]+0x13): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o): In function non-virtual thunk to okvis::ceres::PoseLocalParameterization2d::~PoseLocalParameterization2d()': PoseLocalParameterization.cpp:(.text._ZN5okvis5ceres27PoseLocalParameterization2dD0Ev[_ZN5okvis5ceres27PoseLocalParameterization2dD5Ev]+0x38): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o): In function okvis::ceres::PoseLocalParameterization4d::~PoseLocalParameterization4d()': PoseLocalParameterization.cpp:(.text._ZN5okvis5ceres27PoseLocalParameterization4dD2Ev[_ZN5okvis5ceres27PoseLocalParameterization4dD5Ev]+0xf): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):PoseLocalParameterization.cpp:(.text._ZN5okvis5ceres27PoseLocalParameterization4dD2Ev[_ZN5okvis5ceres27PoseLocalParameterization4dD5Ev]+0x33): more undefined references to ceres::LocalParameterization::~LocalParameterization()' follow okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTIN5okvis5ceres25PoseLocalParameterizationE[_ZTIN5okvis5ceres25PoseLocalParameterizationE]+0x18): undefined reference to typeinfo for ceres::LocalParameterization'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTIN5okvis5ceres27PoseLocalParameterization3dE[_ZTIN5okvis5ceres27PoseLocalParameterization3dE]+0x18): undefined reference to typeinfo for ceres::LocalParameterization' okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTIN5okvis5ceres27PoseLocalParameterization4dE[_ZTIN5okvis5ceres27PoseLocalParameterization4dE]+0x18): undefined reference to typeinfo for ceres::LocalParameterization'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTIN5okvis5ceres27PoseLocalParameterization2dE[_ZTIN5okvis5ceres27PoseLocalParameterization2dE]+0x18): undefined reference to typeinfo for ceres::LocalParameterization' okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTVN5okvis5ceres25PoseLocalParameterizationE[_ZTVN5okvis5ceres25PoseLocalParameterizationE]+0x30): undefined reference to ceres::LocalParameterization::MultiplyByJacobian(double const*, int, double const*, double*) const'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTVN5okvis5ceres27PoseLocalParameterization3dE[_ZTVN5okvis5ceres27PoseLocalParameterization3dE]+0x30): undefined reference to ceres::LocalParameterization::MultiplyByJacobian(double const*, int, double const*, double*) const' okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTVN5okvis5ceres27PoseLocalParameterization4dE[_ZTVN5okvis5ceres27PoseLocalParameterization4dE]+0x30): undefined reference to ceres::LocalParameterization::MultiplyByJacobian(double const*, int, double const*, double*) const'
okvis_ceres/libokvis_ceres.a(PoseLocalParameterization.cpp.o):(.data.rel.ro._ZTVN5okvis5ceres27PoseLocalParameterization2dE[_ZTVN5okvis5ceres27PoseLocalParameterization2dE]+0x30): undefined reference to ceres::LocalParameterization::MultiplyByJacobian(double const*, int, double const*, double*) const' okvis_ceres/libokvis_ceres.a(Estimator.cpp.o): In function okvis::Estimator::Estimator(std::shared_ptrokvis::ceres::Map)':
Estimator.cpp:(.text+0x21c1): undefined reference to vtable for ceres::CauchyLoss' Estimator.cpp:(.text+0x222f): undefined reference to vtable for ceres::HuberLoss'
okvis_ceres/libokvis_ceres.a(Estimator.cpp.o): In function okvis::Estimator::optimize(unsigned long, unsigned long, bool)': Estimator.cpp:(.text+0x2cff): undefined reference to ceres::Solve(ceres::Solver::Options const&, ceres::Problem*, ceres::Solver::Summary*)'
Estimator.cpp:(.text+0x2f34): undefined reference to ceres::Solver::Summary::FullReport[abi:cxx11]() const' okvis_ceres/libokvis_ceres.a(Estimator.cpp.o): In function okvis::Estimator::Estimator()':
Estimator.cpp:(.text+0x3498): undefined reference to vtable for ceres::CauchyLoss' Estimator.cpp:(.text+0x3506): undefined reference to vtable for ceres::HuberLoss'
okvis_ceres/libokvis_ceres.a(Estimator.cpp.o): In function okvis::ceres::Map::~Map()': Estimator.cpp:(.text._ZN5okvis5ceres3MapD2Ev[_ZN5okvis5ceres3MapD5Ev]+0x27): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
Estimator.cpp:(.text._ZN5okvis5ceres3MapD2Ev[_ZN5okvis5ceres3MapD5Ev]+0x45): undefined reference to ceres::LocalParameterization::~LocalParameterization()' Estimator.cpp:(.text._ZN5okvis5ceres3MapD2Ev[_ZN5okvis5ceres3MapD5Ev]+0x63): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
Estimator.cpp:(.text._ZN5okvis5ceres3MapD2Ev[_ZN5okvis5ceres3MapD5Ev]+0x81): undefined reference to ceres::LocalParameterization::~LocalParameterization()' Estimator.cpp:(.text._ZN5okvis5ceres3MapD2Ev[_ZN5okvis5ceres3MapD5Ev]+0x9f): undefined reference to ceres::LocalParameterization::~LocalParameterization()'
okvis_ceres/libokvis_ceres.a(LocalParamizationAdditionalInterfaces.cpp.o): In function okvis::ceres::LocalParamizationAdditionalInterfaces::verify(double const*, double) const': LocalParamizationAdditionalInterfaces.cpp:(.text+0x34): undefined reference to typeinfo for ceres::LocalParameterization'
collect2: error: ld returned 1 exit status
CMakeFiles/okvis_app_synchronous.dir/build.make:128: recipe for target 'okvis_app_synchronous' failed
make[2]: *** [okvis_app_synchronous] Error 1
CMakeFiles/Makefile2:152: recipe for target 'CMakeFiles/okvis_app_synchronous.dir/all' failed
make[1]: *** [CMakeFiles/okvis_app_synchronous.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

[maryanpetruk]

I have the same issue, with ceres.
What can be the solution to it?