We read every piece of feedback, and take your input very seriously.
To see all available qualifiers, see our documentation.
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
"(base) xdh@Pc:~/SLAM/iscloam_ws$ catkin_make",当我编译的时候有以下错误产生这是为什么
`Base path: /home/xdh/SLAM/iscloam_ws Source space: /home/xdh/SLAM/iscloam_ws/src Build space: /home/xdh/SLAM/iscloam_ws/build Devel space: /home/xdh/SLAM/iscloam_ws/devel Install space: /home/xdh/SLAM/iscloam_ws/install
[ 0%] Built target std_msgs_generate_messages_lisp [ 0%] Built target std_msgs_generate_messages_cpp [ 0%] Built target std_msgs_generate_messages_py Scanning dependencies of target iscloam_odom_estimation_node [ 0%] Built target std_msgs_generate_messages_nodejs [ 0%] Built target std_msgs_generate_messages_eus [ 13%] Built target iscloam_laser_mapping_node [ 27%] Built target iscloam_laser_processing_node [ 37%] Building CXX object iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationClass.cpp.o [ 37%] Building CXX object iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/lidarOptimization.cpp.o [ 37%] Building CXX object iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationNode.cpp.o [ 37%] Built target _iscloam_generate_messages_check_deps_LoopInfo [ 44%] Built target iscloam_generate_messages_py [ 48%] Built target iscloam_generate_messages_cpp [ 55%] Built target iscloam_generate_messages_eus [ 58%] Built target iscloam_generate_messages_nodejs [ 62%] Built target iscloam_generate_messages_lisp Scanning dependencies of target iscloam_isc_optimization_node [ 62%] Built target iscloam_generate_messages [ 75%] Built target iscloam_isc_generation_node [ 79%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/lidar.cpp.o [ 82%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationNode.cpp.o [ 86%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationClass.cpp.o [ 89%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/lidarOptimization.cpp.o In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/lidarOptimization.cpp:5: /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token 39 | class PoseSE3Parameterization : public ceres::LocalParameterization { | ^ In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/lidarOptimization.cpp:5: /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token 39 | class PoseSE3Parameterization : public ceres::LocalParameterization { | ^ make[2]: *** [iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/build.make:76:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/lidarOptimization.cpp.o] 错误 1 make[2]: *** 正在等待未完成的任务.... make[2]: *** [iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/build.make:89:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/lidarOptimization.cpp.o] 错误 1 make[2]: *** 正在等待未完成的任务.... In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/odomEstimationClass.h:34, from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp:5: /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token 39 | class PoseSE3Parameterization : public ceres::LocalParameterization { | ^ /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp: In member function ‘void OdomEstimationClass::updatePointsToMap(const Ptr&, const Ptr&)’: /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp:57:83: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization)’ 57 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization()); | ^ In file included from /usr/local/include/ceres/ceres.h:64, from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/odomEstimationClass.h:25, from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp:5: /usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double, int)’ 259 | void AddParameterBlock(double* values, int size); | ^~~~~~~~~~~~~~~~~ /usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided /usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’ 271 | void AddParameterBlock(double* values, int size, Manifold* manifold); | ^~~~~~~~~~~~~~~~~ /usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’ 271 | void AddParameterBlock(double* values, int size, Manifold* manifold); | ~~~~~~~~~~^~~~~~~~ In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/odomEstimationClass.h:34, from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationNode.cpp:27: /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token 39 | class PoseSE3Parameterization : public ceres::LocalParameterization { | ^ In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:45, from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:5: /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token 39 | class PoseSE3Parameterization : public ceres::LocalParameterization { | ^ make[2]: *** [iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/build.make:63:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationNode.cpp.o] 错误 1 In file included from /opt/ros/noetic/include/ros/ros.h:40, from /opt/ros/noetic/include/pcl_ros/point_cloud.h:4, from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:19, from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:5: /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp: In member function ‘bool ISCOptimizationClass::addPoseToGraph(const Ptr&, const Ptr&, std::vector&, Eigen::Isometry3d&)’: /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:82:30: warning: format ‘%d’ expects argument of type ‘int’, but argument 8 has type ‘std::vector<boost::shared_ptr<pcl::PointCloudpcl::PointXYZI > >::size_type’ {aka ‘long unsigned int’} [-Wformat=] 82 | ROS_WARN("global optimization finished%d,%d with tranform %f,%f,%f, [%f,%f,%f,%f]",pointcloud_edge_arr.size()-1, matched_frame_id[i],loop_temp.translation().x(),loop_temp.translation().y(),loop_temp.translation().z(),loop_temp.rotation().toQuaternion().w(),loop_temp.rotation().toQuaternion().x(),loop_temp.rotation().toQuaternion().y(),loop_temp.rotation().toQuaternion().z()); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | | | std::vector<boost::shared_ptr<pcl::PointCloudpcl::PointXYZI > >::size_type {aka long unsigned int} /opt/ros/noetic/include/ros/console.h:351:165: note: in definition of macro ‘ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER’ 351 | ::ros::console::print(filter, _rosconsole_define_location__loc.logger, _rosconsole_define_location__loc.level, FILE, LINE, ROSCONSOLE_FUNCTION, VA_ARGS) | ^~~~~~~~~~~ /opt/ros/noetic/include/ros/console.h:390:7: note: in expansion of macro ‘ROSCONSOLE_PRINT_AT_LOCATION’ 390 | ROSCONSOLE_PRINT_AT_LOCATION(VA_ARGS); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~ /opt/ros/noetic/include/ros/console.h:575:35: note: in expansion of macro ‘ROS_LOG_COND’ 575 | #define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, VA_ARGS) | ^~~~~~~~~~~~ /opt/ros/noetic/include/rosconsole/macros_generated.h:162:23: note: in expansion of macro ‘ROS_LOG’ 162 | #define ROS_WARN(...) ROS_LOG(::ros::console::levels::Warn, ROSCONSOLE_DEFAULT_NAME, VA_ARGS) | ^~~~~~~ /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:82:21: note: in expansion of macro ‘ROS_WARN’ 82 | ROS_WARN("global optimization finished%d,%d with tranform %f,%f,%f, [%f,%f,%f,%f]",pointcloud_edge_arr.size()-1, matched_frame_id[i],loop_temp.translation().x(),loop_temp.translation().y(),loop_temp.translation().z(),loop_temp.rotation().toQuaternion().w(),loop_temp.rotation().toQuaternion().x(),loop_temp.rotation().toQuaternion().y(),loop_temp.rotation().toQuaternion().z()); | ^~~~~~~~ /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:82:60: note: format string is defined here 82 | ROS_WARN("global optimization finished%d,%d with tranform %f,%f,%f, [%f,%f,%f,%f]",pointcloud_edge_arr.size()-1, matched_frame_id[i],loop_temp.translation().x(),loop_temp.translation().y(),loop_temp.translation().z(),loop_temp.rotation().toQuaternion().w(),loop_temp.rotation().toQuaternion().x(),loop_temp.rotation().toQuaternion().y(),loop_temp.rotation().toQuaternion().z()); | ~^ | | | int | %ld /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp: In member function ‘double ISCOptimizationClass::estimateOdom(const Ptr&, const Ptr&, const Ptr&, const Ptr&, Eigen::Isometry3d&)’: /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:251:79: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization*)’ 251 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization()); | ^ In file included from /usr/local/include/ceres/ceres.h:64, from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:7, from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:45, from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:5: /usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’ 259 | void AddParameterBlock(double* values, int size); | ^~~~~~~~~~~~~~~~~ /usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided /usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’ 271 | void AddParameterBlock(double* values, int size, Manifold* manifold); | ^~~~~~~~~~~~~~~~~ /usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’ 271 | void AddParameterBlock(double* values, int size, Manifold* manifold); | ~~~~~~~~~~^~~~~~~~ In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:45, from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationNode.cpp:28: /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token 39 | class PoseSE3Parameterization : public ceres::LocalParameterization { | ^ make[2]: *** [iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/build.make:102:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationClass.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:573:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/all] 错误 2 make[1]: *** 正在等待未完成的任务.... make[2]: *** [iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/build.make:63:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationNode.cpp.o] 错误 1 make[2]: *** [iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/build.make:76:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationClass.cpp.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:515:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/all] 错误 2 make: *** [Makefile:141:all] 错误 2 Invoking "make -j8 -l8" failed`**
The text was updated successfully, but these errors were encountered:
No branches or pull requests
"(base) xdh@Pc:~/SLAM/iscloam_ws$ catkin_make",当我编译的时候有以下错误产生这是为什么
`Base path: /home/xdh/SLAM/iscloam_ws
Source space: /home/xdh/SLAM/iscloam_ws/src
Build space: /home/xdh/SLAM/iscloam_ws/build
Devel space: /home/xdh/SLAM/iscloam_ws/devel
Install space: /home/xdh/SLAM/iscloam_ws/install
Running command: "make cmake_check_build_system" in "/home/xdh/SLAM/iscloam_ws/build"
Running command: "make -j8 -l8" in "/home/xdh/SLAM/iscloam_ws/build"
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_py
Scanning dependencies of target iscloam_odom_estimation_node
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_eus
[ 13%] Built target iscloam_laser_mapping_node
[ 27%] Built target iscloam_laser_processing_node
[ 37%] Building CXX object iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationClass.cpp.o
[ 37%] Building CXX object iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/lidarOptimization.cpp.o
[ 37%] Building CXX object iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationNode.cpp.o
[ 37%] Built target _iscloam_generate_messages_check_deps_LoopInfo
[ 44%] Built target iscloam_generate_messages_py
[ 48%] Built target iscloam_generate_messages_cpp
[ 55%] Built target iscloam_generate_messages_eus
[ 58%] Built target iscloam_generate_messages_nodejs
[ 62%] Built target iscloam_generate_messages_lisp
Scanning dependencies of target iscloam_isc_optimization_node
[ 62%] Built target iscloam_generate_messages
[ 75%] Built target iscloam_isc_generation_node
[ 79%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/lidar.cpp.o
[ 82%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationNode.cpp.o
[ 86%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationClass.cpp.o
[ 89%] Building CXX object iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/lidarOptimization.cpp.o
In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/lidarOptimization.cpp:5:
/home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/lidarOptimization.cpp:5:
/home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
make[2]: *** [iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/build.make:76:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/lidarOptimization.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
make[2]: *** [iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/build.make:89:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/lidarOptimization.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/odomEstimationClass.h:34,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp:5:
/home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp: In member function ‘void OdomEstimationClass::updatePointsToMap(const Ptr&, const Ptr&)’:
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp:57:83: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization)’
57 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization());
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/odomEstimationClass.h:25,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationClass.cpp:5:
/usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double, int)’
259 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/odomEstimationClass.h:34,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/odomEstimationNode.cpp:27:
/home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:45,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:5:
/home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
make[2]: *** [iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/build.make:63:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationNode.cpp.o] 错误 1
In file included from /opt/ros/noetic/include/ros/ros.h:40,
from /opt/ros/noetic/include/pcl_ros/point_cloud.h:4,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:19,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:5:
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp: In member function ‘bool ISCOptimizationClass::addPoseToGraph(const Ptr&, const Ptr&, std::vector&, Eigen::Isometry3d&)’:
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:82:30: warning: format ‘%d’ expects argument of type ‘int’, but argument 8 has type ‘std::vector<boost::shared_ptr<pcl::PointCloudpcl::PointXYZI > >::size_type’ {aka ‘long unsigned int’} [-Wformat=]
82 | ROS_WARN("global optimization finished%d,%d with tranform %f,%f,%f, [%f,%f,%f,%f]",pointcloud_edge_arr.size()-1, matched_frame_id[i],loop_temp.translation().x(),loop_temp.translation().y(),loop_temp.translation().z(),loop_temp.rotation().toQuaternion().w(),loop_temp.rotation().toQuaternion().x(),loop_temp.rotation().toQuaternion().y(),loop_temp.rotation().toQuaternion().z());
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| |
| std::vector<boost::shared_ptr<pcl::PointCloudpcl::PointXYZI > >::size_type {aka long unsigned int}
/opt/ros/noetic/include/ros/console.h:351:165: note: in definition of macro ‘ROSCONSOLE_PRINT_AT_LOCATION_WITH_FILTER’
351 | ::ros::console::print(filter, _rosconsole_define_location__loc.logger, _rosconsole_define_location__loc.level, FILE, LINE, ROSCONSOLE_FUNCTION, VA_ARGS)
| ^~~~~~~~~~~
/opt/ros/noetic/include/ros/console.h:390:7: note: in expansion of macro ‘ROSCONSOLE_PRINT_AT_LOCATION’
390 | ROSCONSOLE_PRINT_AT_LOCATION(VA_ARGS);
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/noetic/include/ros/console.h:575:35: note: in expansion of macro ‘ROS_LOG_COND’
575 | #define ROS_LOG(level, name, ...) ROS_LOG_COND(true, level, name, VA_ARGS)
| ^~~~~~~~~~~~
/opt/ros/noetic/include/rosconsole/macros_generated.h:162:23: note: in expansion of macro ‘ROS_LOG’
162 | #define ROS_WARN(...) ROS_LOG(::ros::console::levels::Warn, ROSCONSOLE_DEFAULT_NAME, VA_ARGS)
| ^~~~~~~
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:82:21: note: in expansion of macro ‘ROS_WARN’
82 | ROS_WARN("global optimization finished%d,%d with tranform %f,%f,%f, [%f,%f,%f,%f]",pointcloud_edge_arr.size()-1, matched_frame_id[i],loop_temp.translation().x(),loop_temp.translation().y(),loop_temp.translation().z(),loop_temp.rotation().toQuaternion().w(),loop_temp.rotation().toQuaternion().x(),loop_temp.rotation().toQuaternion().y(),loop_temp.rotation().toQuaternion().z());
| ^~~~~~~~
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:82:60: note: format string is defined here
82 | ROS_WARN("global optimization finished%d,%d with tranform %f,%f,%f, [%f,%f,%f,%f]",pointcloud_edge_arr.size()-1, matched_frame_id[i],loop_temp.translation().x(),loop_temp.translation().y(),loop_temp.translation().z(),loop_temp.rotation().toQuaternion().w(),loop_temp.rotation().toQuaternion().x(),loop_temp.rotation().toQuaternion().y(),loop_temp.rotation().toQuaternion().z());
| ~^
| |
| int
| %ld
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp: In member function ‘double ISCOptimizationClass::estimateOdom(const Ptr&, const Ptr&, const Ptr&, const Ptr&, Eigen::Isometry3d&)’:
/home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:251:79: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization*)’
251 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization());
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:7,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:45,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationClass.cpp:5:
/usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
259 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
In file included from /home/xdh/SLAM/iscloam_ws/src/iscloam/include/iscOptimizationClass.h:45,
from /home/xdh/SLAM/iscloam_ws/src/iscloam/src/iscOptimizationNode.cpp:28:
/home/xdh/SLAM/iscloam_ws/src/iscloam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
make[2]: *** [iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/build.make:102:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/src/odomEstimationClass.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:573:iscloam/CMakeFiles/iscloam_odom_estimation_node.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
make[2]: *** [iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/build.make:63:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationNode.cpp.o] 错误 1
make[2]: *** [iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/build.make:76:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/src/iscOptimizationClass.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:515:iscloam/CMakeFiles/iscloam_isc_optimization_node.dir/all] 错误 2
make: *** [Makefile:141:all] 错误 2
Invoking "make -j8 -l8" failed`**
The text was updated successfully, but these errors were encountered: