Errors in Building stella_vslam #465

mgrallos · 2023-02-07T02:27:02Z

mgrallos
Feb 7, 2023

@ymd-stella . I already install and build all the dependencies needed as instructed in this link and I am using ROS Noetic. But I have encountered these errors. I have no idea what caused them.

Please see this video.

In file included from /usr/include/gtsam/base/Matrix.h:27,
fro

m /usr/include/gtsam/base/Manifold.h:22,
from /usr/include/gtsam/base/GenericValue.h:22,
from /usr/include/gtsam/nonlinear/Values.h:29,
from /usr/include/gtsam/nonlinear/NonlinearFactor.h:24,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/base/OptionalJacobian.h:126:43: error: function definition does not declare parameters
126 | OptionalJacobian(std::nullopt_t /none/) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h:131:31: error: ‘optional’ in namespace ‘std’ does not name a template type
131 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~~~~~~
/usr/include/gtsam/base/OptionalJacobian.h:131:26: note: ‘std::optional’ is only available from C++17 onwards
131 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~
/usr/include/gtsam/base/OptionalJacobian.h:131:39: error: expected ‘,’ or ‘...’ before ‘<’ token
131 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h: In constructor ‘gtsam::OptionalJacobian<Rows, Cols>::OptionalJacobian(int)’:
/usr/include/gtsam/base/OptionalJacobian.h:133:9: error: ‘optional’ was not declared in this scope; did you mean ‘optind’?
133 | if (optional) {
| ^~~~~~~~
| optind
/usr/include/gtsam/base/OptionalJacobian.h: At global scope:
/usr/include/gtsam/base/OptionalJacobian.h:214:43: error: function definition does not declare parameters
214 | OptionalJacobian(std::nullopt_t /none/) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h:219:31: error: ‘optional’ in namespace ‘std’ does not name a template type
219 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~~~~~~
/usr/include/gtsam/base/OptionalJacobian.h:219:26: note: ‘std::optional’ is only available from C++17 onwards
219 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~
/usr/include/gtsam/base/OptionalJacobian.h:219:39: error: expected ‘,’ or ‘...’ before ‘<’ token
219 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h: In constructor ‘gtsam::OptionalJacobian<-1, -1>::OptionalJacobian(int)’:
/usr/include/gtsam/base/OptionalJacobian.h:221:9: error: ‘optional’ was not declared in this scope; did you mean ‘optind’?
221 | if (optional) pointer_ = &((optional).get());
| ^~~~~~~~
| optind
In file included from /usr/include/gtsam/base/Matrix.h:27,
from /usr/include/gtsam/base/Manifold.h:22,
from /usr/include/gtsam/base/GenericValue.h:22,
from /usr/include/gtsam/nonlinear/Values.h:29,
from /usr/include/gtsam/nonlinear/NonlinearFactor.h:24,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/base/OptionalJacobian.h:126:43: error: function definition does not declare parameters
126 | OptionalJacobian(std::nullopt_t /none/) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h:131:31: error: ‘optional’ in namespace ‘std’ does not name a template type
131 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~~~~~~
/usr/include/gtsam/base/OptionalJacobian.h:131:26: note: ‘std::optional’ is only available from C++17 onwards
131 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~
/usr/include/gtsam/base/OptionalJacobian.h:131:39: error: expected ‘,’ or ‘...’ before ‘<’ token
131 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h: In constructor ‘gtsam::OptionalJacobian<Rows, Cols>::OptionalJacobian(int)’:
/usr/include/gtsam/base/OptionalJacobian.h:133:9: error: ‘optional’ was not declared in this scope; did you mean ‘optind’?
133 | if (optional) {
| ^~~~~~~~
| optind
/usr/include/gtsam/base/OptionalJacobian.h: At global scope:
/usr/include/gtsam/base/OptionalJacobian.h:214:43: error: function definition does not declare parameters
214 | OptionalJacobian(std::nullopt_t /none/) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h:219:31: error: ‘optional’ in namespace ‘std’ does not name a template type
219 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~~~~~~
/usr/include/gtsam/base/OptionalJacobian.h:219:26: note: ‘std::optional’ is only available from C++17 onwards
219 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^~~
/usr/include/gtsam/base/OptionalJacobian.h:219:39: error: expected ‘,’ or ‘...’ before ‘<’ token
219 | OptionalJacobian(const std::optional<std::reference_wrapperEigen::MatrixXd> optional) :
| ^
/usr/include/gtsam/base/OptionalJacobian.h: In constructor ‘gtsam::OptionalJacobian<-1, -1>::OptionalJacobian(int)’:
/usr/include/gtsam/base/OptionalJacobian.h:221:9: error: ‘optional’ was not declared in this scope; did you mean ‘optind’?
221 | if (optional) pointer_ = &((optional).get());
| ^~~~~~~~
| optind
In file included from /usr/include/gtsam/nonlinear/NonlinearFactor.h:24,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/nonlinear/Values.h: In member function ‘std::unique_ptrgtsam::Values::ConstKeyValuePair gtsam::Values::deref_iterator::operator->()’:
/usr/include/gtsam/nonlinear/Values.h:193:21: error: ‘make_unique’ is not a member of ‘std’
193 | return std::make_unique(it_->first, (it_->second));
| ^~~~~~~~~~~
/usr/include/gtsam/nonlinear/Values.h:193:21: note: ‘std::make_unique’ is only available from C++14 onwards
/usr/include/gtsam/nonlinear/Values.h:193:50: error: expected primary-expression before ‘>’ token
193 | return std::make_unique(it_->first, (it_->second));
| ^
In file included from /usr/include/gtsam/nonlinear/NonlinearFactor.h:24,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/nonlinear/Values.h: In member function ‘std::unique_ptrgtsam::Values::ConstKeyValuePair gtsam::Values::deref_iterator::operator->()’:
/usr/include/gtsam/nonlinear/Values.h:193:21: error: ‘make_unique’ is not a member of ‘std’
193 | return std::make_unique(it_->first, (it_->second));
| ^~~~~~~~~~~
/usr/include/gtsam/nonlinear/Values.h:193:21: note: ‘std::make_unique’ is only available from C++14 onwards
/usr/include/gtsam/nonlinear/Values.h:193:50: error: expected primary-expression before ‘>’ token
193 | return std::make_unique(it_->first, (it_->second));
| ^
In file included from /usr/include/gtsam/nonlinear/NonlinearFactor.h:25,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/linear/NoiseModel.h: At global scope:
/usr/include/gtsam/linear/NoiseModel.h:173:12: error: ‘optional’ in namespace ‘std’ does not name a template type
173 | std::optional sqrt_information_;
| ^~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:173:7: note: ‘std::optional’ is only available from C++17 onwards
173 | std::optional sqrt_information_;
| ^~~
/usr/include/gtsam/linear/NoiseModel.h:193:27: error: ‘optional’ in namespace ‘std’ does not name a template type
193 | const std::optional& sqrt_information = {})
| ^~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:193:22: note: ‘std::optional’ is only available from C++17 onwards
193 | const std::optional& sqrt_information = {})
| ^~~
/usr/include/gtsam/linear/NoiseModel.h:193:35: error: expected ‘,’ or ‘...’ before ‘<’ token
193 | const std::optional& sqrt_information = {})
| ^
/usr/include/gtsam/linear/NoiseModel.h:193:16: error: default argument missing for parameter 2 of ‘gtsam::noiseModel::Gaussian::Gaussian(size_t, int)’
193 | const std::optional& sqrt_information = {})
| ^~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:192:23: note: ...following parameter 1 which has a default argument
192 | Gaussian(size_t dim = 1,
| ~~~~~~~^~~~~~~
/usr/include/gtsam/linear/NoiseModel.h: In member function ‘const Matrix& gtsam::noiseModel::Gaussian::thisR() const’:
/usr/include/gtsam/linear/NoiseModel.h:182:14: error: ‘sqrt_information_’ was not declared in this scope; did you mean ‘SqrtInformation’?
182 | if (!sqrt_information_) throw std::runtime_error("Gaussian: has no R matrix");
| ^~~~~~~~~~~~~~~~~
| SqrtInformation
/usr/include/gtsam/linear/NoiseModel.h:183:17: error: ‘sqrt_information_’ was not declared in this scope; did you mean ‘SqrtInformation’?
183 | return sqrt_information_;
| ^~~~~~~~~~~~~~~~~
| SqrtInformation
/usr/include/gtsam/linear/NoiseModel.h: In constructor ‘gtsam::noiseModel::Gaussian::Gaussian(size_t, int)’:
/usr/include/gtsam/linear/NoiseModel.h:194:24: error: class ‘gtsam::noiseModel::Gaussian’ does not have any field named ‘sqrt_information_’
194 | : Base(dim), sqrt_information_(sqrt_information) {}
| ^~~~~~~~~~~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:194:42: error: ‘sqrt_information’ was not declared in this scope; did you mean ‘SqrtInformation’?
194 | : Base(dim), sqrt_information_(sqrt_information) {}
| ^~~~~~~~~~~~~~~~
| SqrtInformation
In file included from /usr/include/gtsam/nonlinear/NonlinearFactor.h:25,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/linear/NoiseModel.h: At global scope:
/usr/include/gtsam/linear/NoiseModel.h:173:12: error: ‘optional’ in namespace ‘std’ does not name a template type
173 | std::optional sqrt_information_;
| ^~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:173:7: note: ‘std::optional’ is only available from C++17 onwards
173 | std::optional sqrt_information_;
| ^~~
/usr/include/gtsam/linear/NoiseModel.h:193:27: error: ‘optional’ in namespace ‘std’ does not name a template type
193 | const std::optional& sqrt_information = {})
| ^~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:193:22: note: ‘std::optional’ is only available from C++17 onwards
193 | const std::optional& sqrt_information = {})
| ^~~
/usr/include/gtsam/linear/NoiseModel.h:193:35: error: expected ‘,’ or ‘...’ before ‘<’ token
193 | const std::optional& sqrt_information = {})
| ^
/usr/include/gtsam/linear/NoiseModel.h:193:16: error: default argument missing for parameter 2 of ‘gtsam::noiseModel::Gaussian::Gaussian(size_t, int)’
193 | const std::optional& sqrt_information = {})
| ^~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:192:23: note: ...following parameter 1 which has a default argument
192 | Gaussian(size_t dim = 1,
| ~~~~~~~^~~~~~~
/usr/include/gtsam/linear/NoiseModel.h: At global scope:
/usr/include/gtsam/linear/NoiseModel.h:734:23: error: ‘optional’ in namespace ‘std’ does not name a template type
734 | GTSAM_EXPORT std::optional checkIfDiagonal(const Matrix& M);
| ^~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:734:18: note: ‘std::optional’ is only available from C++17 onwards
734 | GTSAM_EXPORT std::optional checkIfDiagonal(const Matrix& M);
| ^~~
/usr/include/gtsam/linear/NoiseModel.h: In member function ‘const Matrix& gtsam::noiseModel::Gaussian::thisR() const’:
/usr/include/gtsam/linear/NoiseModel.h:182:14: error: ‘sqrt_information_’ was not declared in this scope; did you mean ‘SqrtInformation’?
182 | if (!sqrt_information_) throw std::runtime_error("Gaussian: has no R matrix");
| ^~~~~~~~~~~~~~~~~
| SqrtInformation
/usr/include/gtsam/linear/NoiseModel.h:183:17: error: ‘sqrt_information_’ was not declared in this scope; did you mean ‘SqrtInformation’?
183 | return sqrt_information_;
| ^~~~~~~~~~~~~~~~~
| SqrtInformation
/usr/include/gtsam/linear/NoiseModel.h: In constructor ‘gtsam::noiseModel::Gaussian::Gaussian(size_t, int)’:
/usr/include/gtsam/linear/NoiseModel.h:194:24: error: class ‘gtsam::noiseModel::Gaussian’ does not have any field named ‘sqrt_information_’
194 | : Base(dim), sqrt_information_(sqrt_information) {}
| ^~~~~~~~~~~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:194:42: error: ‘sqrt_information’ was not declared in this scope; did you mean ‘SqrtInformation’?
194 | : Base(dim), sqrt_information_(sqrt_information) {}
| ^~~~~~~~~~~~~~~~
| SqrtInformation
/usr/include/gtsam/linear/NoiseModel.h: At global scope:
/usr/include/gtsam/linear/NoiseModel.h:734:23: error: ‘optional’ in namespace ‘std’ does not name a template type
734 | GTSAM_EXPORT std::optional checkIfDiagonal(const Matrix& M);
| ^~~~~~~~
/usr/include/gtsam/linear/NoiseModel.h:734:18: note: ‘std::optional’ is only available from C++17 onwards
734 | GTSAM_EXPORT std::optional checkIfDiagonal(const Matrix& M);
| ^~~
In file included from /usr/include/gtsam/linear/linearExceptions.h:20,
from /usr/include/gtsam/linear/JacobianFactor-inl.h:21,
from /usr/include/gtsam/linear/JacobianFactor.h:469,
from /usr/include/gtsam/nonlinear/NonlinearFactor.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/base/ThreadsafeException.h:56:16: error: ‘optional’ in namespace ‘std’ does not name a template type
56 | mutable std::optional description_; ///< Optional description
| ^~~~~~~~
/usr/include/gtsam/base/ThreadsafeException.h:56:11: note: ‘std::optional’ is only available from C++17 onwards
56 | mutable std::optional description_; ///< Optional description
| ^~~
/usr/include/gtsam/base/ThreadsafeException.h: In constructor ‘gtsam::ThreadsafeException::ThreadsafeException(const string&)’:
/usr/include/gtsam/base/ThreadsafeException.h:70:24: error: class ‘gtsam::ThreadsafeException’ does not have any field named ‘description_’
70 | dynamic_(false), description_(
| ^~~~~~~~~~~~
/usr/include/gtsam/base/ThreadsafeException.h: In member function ‘const char gtsam::ThreadsafeException::what() const’:
/usr/include/gtsam/base/ThreadsafeException.h:80:12: error: ‘description_’ was not declared in this scope
80 | return description_ ? description_->c_str() : "";
| ^~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:469:33: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
469 | using AreAllMatrixRefs = std::enable_if_t<(... &&
| ^~~~~~~~~~~
| enable_if
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:54: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
473 | using IsMatrixPointer = std::is_same<typename std::decay_t, Matrix>;
| ^~~~~~~
| decay
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:61: error: expected template-argument before ‘<’ token
473 | using IsMatrixPointer = std::is_same<typename std::decay_t, Matrix>;
| ^
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:61: error: expected ‘>’ before ‘<’ token
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:75: error: wrong number of template arguments (1, should be 2)
473 | using IsMatrixPointer = std::is_same<typename std::decay_t, Matrix>;
| ^
In file included from /usr/include/c++/9/bits/move.h:55,
from /usr/include/c++/9/bits/stl_pair.h:59,
from /usr/include/c++/9/bits/stl_algobase.h:64,
from /usr/include/c++/9/vector:60,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/type_traits:1285:12: note: provided for ‘template<class, class> struct std::is_same’
1285 | struct is_same
| ^~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:52: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
476 | using IsNullpointer = std::is_same<typename std::decay_t, std::nullptr_t>;
| ^~~~~~~
| decay
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:59: error: expected template-argument before ‘<’ token
476 | using IsNullpointer = std::is_same<typename std::decay_t, std::nullptr_t>;
| ^
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:59: error: expected ‘>’ before ‘<’ token
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:80: error: wrong number of template arguments (1, should be 2)
476 | using IsNullpointer = std::is_same<typename std::decay_t, std::nullptr_t>;
| ^
In file included from /usr/include/c++/9/bits/move.h:55,
from /usr/include/c++/9/bits/stl_pair.h:59,
from /usr/include/c++/9/bits/stl_algobase.h:64,
from /usr/include/c++/9/vector:60,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/type_traits:1285:12: note: provided for ‘template<class, class> struct std::is_same’
1285 | struct is_same
| ^~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:483:35: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
483 | using AreAllMatrixPtrs = std::enable_if_t<(... &&
| ^~~~~~~~~~~
| enable_if
/usr/include/gtsam/nonlinear/NonlinearFactor.h:675:10: error: ‘AreAllMatrixRefs’ does not name a type
675 | inline AreAllMatrixRefs<Vector, OptionalJacArgs...> evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~~~~
/usr/include/gtsam/nonlinear/NonlinearFactor.h:685:10: error: ‘AreAllMatrixPtrs’ does not name a type
685 | inline AreAllMatrixPtrs<Vector, OptionalJacArgs...> evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~~~~
In file included from /usr/include/gtsam/linear/linearExceptions.h:20,
from /usr/include/gtsam/linear/JacobianFactor-inl.h:21,
from /usr/include/gtsam/linear/JacobianFactor.h:469,
from /usr/include/gtsam/nonlinear/NonlinearFactor.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/base/ThreadsafeException.h:56:16: error: ‘optional’ in namespace ‘std’ does not name a template type
56 | mutable std::optional description_; ///< Optional description
| ^~~~~~~~
/usr/include/gtsam/base/ThreadsafeException.h:56:11: note: ‘std::optional’ is only available from C++17 onwards
56 | mutable std::optional description_; ///< Optional description
| ^~~
/usr/include/gtsam/base/ThreadsafeException.h: In constructor ‘gtsam::ThreadsafeException::ThreadsafeException(const string&)’:
/usr/include/gtsam/base/ThreadsafeException.h:70:24: error: class ‘gtsam::ThreadsafeException’ does not have any field named ‘description_’
70 | dynamic_(false), description_(
| ^~~~~~~~~~~~
/usr/include/gtsam/base/ThreadsafeException.h: In member function ‘const char gtsam::ThreadsafeException::what() const’:
/usr/include/gtsam/base/ThreadsafeException.h:80:12: error: ‘description_’ was not declared in this scope
80 | return description_ ? description_->c_str() : "";
| ^~~~~~~~~~~~
In file included from /usr/include/gtsam/geometry/CalibratedCamera.h:22,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:5,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/geometry/Point2.h:70:19: error: ‘optional’ in namespace ‘std’ does not name a template type
70 | GTSAM_EXPORT std::optional circleCircleIntersection(double R_d, double r_d, double tol = 1e-9);
| ^~~~~~~~
/usr/include/gtsam/geometry/Point2.h:70:14: note: ‘std::optional’ is only available from C++17 onwards
70 | GTSAM_EXPORT std::optional circleCircleIntersection(double R_d, double r_d, double tol = 1e-9);
| ^~~
/usr/include/gtsam/geometry/Point2.h:78:84: error: ‘std::optional’ has not been declared
78 | GTSAM_EXPORT std::list circleCircleIntersection(Point2 c1, Point2 c2, std::optional fh);
| ^~~~~~~~
/usr/include/gtsam/geometry/Point2.h:78:92: error: expected ‘,’ or ‘...’ before ‘<’ token
78 | GTSAM_EXPORT std::list circleCircleIntersection(Point2 c1, Point2 c2, std::optional fh);
| ^
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:469:33: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
469 | using AreAllMatrixRefs = std::enable_if_t<(... &&
| ^~~~~~~~~~~
| enable_if
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:54: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
473 | using IsMatrixPointer = std::is_same<typename std::decay_t, Matrix>;
| ^~~~~~~
| decay
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:61: error: expected template-argument before ‘<’ token
473 | using IsMatrixPointer = std::is_same<typename std::decay_t, Matrix>;
| ^
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:61: error: expected ‘>’ before ‘<’ token
/usr/include/gtsam/nonlinear/NonlinearFactor.h:473:75: error: wrong number of template arguments (1, should be 2)
473 | using IsMatrixPointer = std::is_same<typename std::decay_t, Matrix>;
| ^
In file included from /usr/include/c++/9/bits/move.h:55,
from /usr/include/c++/9/bits/stl_pair.h:59,
from /usr/include/c++/9/bits/stl_algobase.h:64,
from /usr/include/c++/9/vector:60,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/type_traits:1285:12: note: provided for ‘template<class, class> struct std::is_same’
1285 | struct is_same
| ^~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:52: error: ‘decay_t’ in namespace ‘std’ does not name a template type; did you mean ‘decay’?
476 | using IsNullpointer = std::is_same<typename std::decay_t, std::nullptr_t>;
| ^~~~~~~
| decay
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:59: error: expected template-argument before ‘<’ token
476 | using IsNullpointer = std::is_same<typename std::decay_t, std::nullptr_t>;
| ^
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:59: error: expected ‘>’ before ‘<’ token
/usr/include/gtsam/nonlinear/NonlinearFactor.h:476:80: error: wrong number of template arguments (1, should be 2)
476 | using IsNullpointer = std::is_same<typename std::decay_t, std::nullptr_t>;
| ^
In file included from /usr/include/c++/9/bits/move.h:55,
from /usr/include/c++/9/bits/stl_pair.h:59,
from /usr/include/c++/9/bits/stl_algobase.h:64,
from /usr/include/c++/9/vector:60,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/type_traits:1285:12: note: provided for ‘template<class, class> struct std::is_same’
1285 | struct is_same
| ^~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:483:35: error: ‘enable_if_t’ in namespace ‘std’ does not name a template type; did you mean ‘enable_if’?
483 | using AreAllMatrixPtrs = std::enable_if_t<(... &&
| ^~~~~~~~~~~
| enable_if
/usr/include/gtsam/nonlinear/NonlinearFactor.h:675:10: error: ‘AreAllMatrixRefs’ does not name a type
675 | inline AreAllMatrixRefs<Vector, OptionalJacArgs...> evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~~~~
/usr/include/gtsam/nonlinear/NonlinearFactor.h:685:10: error: ‘AreAllMatrixPtrs’ does not name a type
685 | inline AreAllMatrixPtrs<Vector, OptionalJacArgs...> evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~~~~
In file included from /usr/include/gtsam/geometry/CalibratedCamera.h:22,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:5,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/geometry/Point2.h:70:19: error: ‘optional’ in namespace ‘std’ does not name a template type
70 | GTSAM_EXPORT std::optional circleCircleIntersection(double R_d, double r_d, double tol = 1e-9);
| ^~~~~~~~
/usr/include/gtsam/geometry/Point2.h:70:14: note: ‘std::optional’ is only available from C++17 onwards
70 | GTSAM_EXPORT std::optional circleCircleIntersection(double R_d, double r_d, double tol = 1e-9);
| ^~~
/usr/include/gtsam/geometry/Point2.h:78:84: error: ‘std::optional’ has not been declared
78 | GTSAM_EXPORT std::list circleCircleIntersection(Point2 c1, Point2 c2, std::optional fh);
| ^~~~~~~~
/usr/include/gtsam/geometry/Point2.h:78:92: error: expected ‘,’ or ‘...’ before ‘<’ token
78 | GTSAM_EXPORT std::list circleCircleIntersection(Point2 c1, Point2 c2, std::optional fh);
| ^
In file included from /usr/include/gtsam/geometry/Rot3.h:26,
from /usr/include/gtsam/geometry/Pose3.h:24,
from /usr/include/gtsam/geometry/CalibratedCamera.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:5,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/geometry/Unit3.h:47:16: error: ‘optional’ in namespace ‘std’ does not name a template type
47 | mutable std::optional B_; ///< Cached basis
| ^~~~~~~~
/usr/include/gtsam/geometry/Unit3.h:47:11: note: ‘std::optional’ is only available from C++17 onwards
47 | mutable std::optional B_; ///< Cached basis
| ^~~
/usr/include/gtsam/geometry/Unit3.h:48:16: error: ‘optional’ in namespace ‘std’ does not name a template type
48 | mutable std::optional H_B_; ///< Cached basis derivative
| ^~~~~~~~
/usr/include/gtsam/geometry/Unit3.h:48:11: note: ‘std::optional’ is only available from C++17 onwards
48 | mutable std::optional H_B_; ///< Cached basis derivative
| ^~~
In file included from /usr/include/gtsam/geometry/Rot3.h:26,
from /usr/include/gtsam/geometry/Pose3.h:24,
from /usr/include/gtsam/geometry/CalibratedCamera.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:5,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/geometry/Unit3.h:47:16: error: ‘optional’ in namespace ‘std’ does not name a template type
47 | mutable std::optional B_; ///< Cached basis
| ^~~~~~~~
/usr/include/gtsam/geometry/Unit3.h:47:11: note: ‘std::optional’ is only available from C++17 onwards
47 | mutable std::optional B_; ///< Cached basis
| ^~~
/usr/include/gtsam/geometry/Unit3.h:48:16: error: ‘optional’ in namespace ‘std’ does not name a template type
48 | mutable std::optional H_B_; ///< Cached basis derivative
| ^~~~~~~~
/usr/include/gtsam/geometry/Unit3.h:48:11: note: ‘std::optional’ is only available from C++17 onwards
48 | mutable std::optional H_B_; ///< Cached basis derivative
| ^~~
/usr/include/gtsam/geometry/Unit3.h: In member function ‘gtsam::Unit3& gtsam::Unit3::operator=(const gtsam::Unit3&)’:
/usr/include/gtsam/geometry/Unit3.h:86:5: error: ‘B_’ was not declared in this scope; did you mean ‘p_’?
86 | B_ = u.B_;
| ^~
| p_
/usr/include/gtsam/geometry/Unit3.h:86:12: error: ‘const class gtsam::Unit3’ has no member named ‘B_’; did you mean ‘p_’?
86 | B_ = u.B_;
| ^~
| p_
/usr/include/gtsam/geometry/Unit3.h:87:5: error: ‘H_B_’ was not declared in this scope
87 | H_B_ = u.H_B_;
| ^~~~
/usr/include/gtsam/geometry/Unit3.h:87:14: error: ‘const class gtsam::Unit3’ has no member named ‘H_B_’
87 | H_B_ = u.H_B_;
| ^~~~
/usr/include/gtsam/geometry/Unit3.h: In member function ‘gtsam::Unit3& gtsam::Unit3::operator=(const gtsam::Unit3&)’:
/usr/include/gtsam/geometry/Unit3.h:86:5: error: ‘B_’ was not declared in this scope; did you mean ‘p_’?
86 | B_ = u.B_;
| ^~
| p_
/usr/include/gtsam/geometry/Unit3.h:86:12: error: ‘const class gtsam::Unit3’ has no member named ‘B_’; did you mean ‘p_’?
86 | B_ = u.B_;
| ^~
| p_
/usr/include/gtsam/geometry/Unit3.h:87:5: error: ‘H_B_’ was not declared in this scope
87 | H_B_ = u.H_B_;
| ^~~~
/usr/include/gtsam/geometry/Unit3.h:87:14: error: ‘const class gtsam::Unit3’ has no member named ‘H_B_’
87 | H_B_ = u.H_B_;
| ^~~~
In file included from /usr/include/gtsam/geometry/CalibratedCamera.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:5,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/geometry/Pose3.h: At global scope:
/usr/include/gtsam/geometry/Pose3.h:86:15: error: ‘optional’ in namespace ‘std’ does not name a template type
86 | static std::optional Align(const Point3Pairs& abPointPairs);
| ^~~~~~~~
/usr/include/gtsam/geometry/Pose3.h:86:10: note: ‘std::optional’ is only available from C++17 onwards
86 | static std::optional Align(const Point3Pairs& abPointPairs);
| ^~~
/usr/include/gtsam/geometry/Pose3.h:89:15: error: ‘optional’ in namespace ‘std’ does not name a template type
89 | static std::optional Align(const Matrix& a, const Matrix& b);
| ^~~~~~~~
/usr/include/gtsam/geometry/Pose3.h:89:10: note: ‘std::optional’ is only available from C++17 onwards
89 | static std::optional Align(const Matrix& a, const Matrix& b);
| ^~~
In file included from /usr/include/gtsam/geometry/CalibratedCamera.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:5,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/geometry/Pose3.h: At global scope:
/usr/include/gtsam/geometry/Pose3.h:86:15: error: ‘optional’ in namespace ‘std’ does not name a template type
86 | static std::optional Align(const Point3Pairs& abPointPairs);
| ^~~~~~~~
/usr/include/gtsam/geometry/Pose3.h:86:10: note: ‘std::optional’ is only available from C++17 onwards
86 | static std::optional Align(const Point3Pairs& abPointPairs);
| ^~~
/usr/include/gtsam/geometry/Pose3.h:89:15: error: ‘optional’ in namespace ‘std’ does not name a template type
89 | static std::optional Align(const Matrix& a, const Matrix& b);
| ^~~~~~~~
/usr/include/gtsam/geometry/Pose3.h:89:10: note: ‘std::optional’ is only available from C++17 onwards
89 | static std::optional Align(const Matrix& a, const Matrix& b);
| ^~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::ProjectionFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:68:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
68 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:68:65: error: expected primary-expression before ‘>’ token
68 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::ProjectionFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:68:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
68 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:68:65: error: expected primary-expression before ‘>’ token
68 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:246:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
246 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:246:65: error: expected primary-expression before ‘>’ token
246 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::PoseOptFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:320:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
320 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:320:65: error: expected primary-expression before ‘>’ token
320 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:369:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
369 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:369:65: error: expected primary-expression before ‘>’ token
369 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
In file included from /usr/include/gtsam/nonlinear/GraphvizFormatting.h:21,
from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/inference/DotWriter.h: At global scope:
/usr/include/gtsam/inference/DotWriter.h:84:32: error: ‘optional’ in namespace ‘std’ does not name a template type
84 | const std::optional& position,
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:84:27: note: ‘std::optional’ is only available from C++17 onwards
84 | const std::optional& position,
| ^~~
/usr/include/gtsam/inference/DotWriter.h:84:40: error: expected ‘,’ or ‘...’ before ‘<’ token
84 | const std::optional& position,
| ^
/usr/include/gtsam/inference/DotWriter.h:88:47: error: ‘optional’ in namespace ‘std’ does not name a template type
88 | static void DrawFactor(size_t i, const std::optional& position,
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:88:42: note: ‘std::optional’ is only available from C++17 onwards
88 | static void DrawFactor(size_t i, const std::optional& position,
| ^~~
/usr/include/gtsam/inference/DotWriter.h:88:55: error: expected ‘,’ or ‘...’ before ‘<’ token
88 | static void DrawFactor(size_t i, const std::optional& position,
| ^
/usr/include/gtsam/inference/DotWriter.h:92:8: error: ‘optional’ in namespace ‘std’ does not name a template type
92 | std::optional variablePos(Key key) const;
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:92:3: note: ‘std::optional’ is only available from C++17 onwards
92 | std::optional variablePos(Key key) const;
| ^~~
/usr/include/gtsam/inference/DotWriter.h:97:33: error: ‘optional’ in namespace ‘std’ does not name a template type
97 | const std::optional& position,
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:97:28: note: ‘std::optional’ is only available from C++17 onwards
97 | const std::optional& position,
| ^~~
/usr/include/gtsam/inference/DotWriter.h:97:41: error: expected ‘,’ or ‘...’ before ‘<’ token
97 | const std::optional& position,
| ^
In file included from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:56:8: error: ‘optional’ in namespace ‘std’ does not name a template type
56 | std::optional extractPosition(const Value& value) const;
| ^~~~~~~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:56:3: note: ‘std::optional’ is only available from C++17 onwards
56 | std::optional extractPosition(const Value& value) const;
| ^~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:59:8: error: ‘optional’ in namespace ‘std’ does not name a template type
59 | std::optional variablePos(const Values& values, const Vector2& min,
| ^~~~~~~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:59:3: note: ‘std::optional’ is only available from C++17 onwards
59 | std::optional variablePos(const Values& values, const Vector2& min,
| ^~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:63:8: error: ‘optional’ in namespace ‘std’ does not name a template type
63 | std::optional factorPos(const Vector2& min, size_t i) const;
| ^~~~~~~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:63:3: note: ‘std::optional’ is only available from C++17 onwards
63 | std::optional factorPos(const Vector2& min, size_t i) const;
| ^~~
In file included from /usr/include/gtsam/inference/FactorGraph.h:451,
from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:27,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/inference/FactorGraph-inst.h: In member function ‘void gtsam::FactorGraph::dot(std::ostream&, const KeyFormatter&, const gtsam::DotWriter&) const’:
/usr/include/gtsam/inference/FactorGraph-inst.h:148:28: error: ‘const struct gtsam::DotWriter’ has no member named ‘variablePos’; did you mean ‘variablePositions’?
148 | auto position = writer.variablePos(key);
| ^~~~~~~~~~~
| variablePositions
/usr/include/gtsam/inference/FactorGraph-inst.h:158:64: error: no matching function for call to ‘gtsam::DotWriter::processFactor(size_t&, const KeyVector&, const KeyFormatter&, , std::ostream*) const’
158 | writer.processFactor(i, factorKeys, keyFormatter, {}, &os);
| ^
In file included from /usr/include/gtsam/nonlinear/GraphvizFormatting.h:21,
from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/inference/DotWriter.h:95:8: note: candidate: ‘void gtsam::DotWriter::processFactor(size_t, const KeyVector&, const KeyFormatter&, int) const’
95 | void processFactor(size_t i, const KeyVector& keys,
| ^~~~~~~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:95:8: note: candidate expects 4 arguments, 5 provided
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:246:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
246 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:246:65: error: expected primary-expression before ‘>’ token
246 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::PoseOptFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:320:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
320 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:320:65: error: expected primary-expression before ‘>’ token
320 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In member function ‘gtsam::NonlinearFactor::shared_ptr stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::clone() const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:369:23: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
369 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:491:5: note: ‘std::static_pointer_cast’ declared here
491 | static_pointer_cast(const shared_ptr<_Up>& __r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:369:65: error: expected primary-expression before ‘>’ token
369 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
In file included from /usr/include/gtsam/nonlinear/GraphvizFormatting.h:21,
from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/inference/DotWriter.h: At global scope:
/usr/include/gtsam/inference/DotWriter.h:84:32: error: ‘optional’ in namespace ‘std’ does not name a template type
84 | const std::optional& position,
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:84:27: note: ‘std::optional’ is only available from C++17 onwards
84 | const std::optional& position,
| ^~~
/usr/include/gtsam/inference/DotWriter.h:84:40: error: expected ‘,’ or ‘...’ before ‘<’ token
84 | const std::optional& position,
| ^
/usr/include/gtsam/inference/DotWriter.h:88:47: error: ‘optional’ in namespace ‘std’ does not name a template type
88 | static void DrawFactor(size_t i, const std::optional& position,
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:88:42: note: ‘std::optional’ is only available from C++17 onwards
88 | static void DrawFactor(size_t i, const std::optional& position,
| ^~~
/usr/include/gtsam/inference/DotWriter.h:88:55: error: expected ‘,’ or ‘...’ before ‘<’ token
88 | static void DrawFactor(size_t i, const std::optional& position,
| ^
/usr/include/gtsam/inference/DotWriter.h:92:8: error: ‘optional’ in namespace ‘std’ does not name a template type
92 | std::optional variablePos(Key key) const;
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:92:3: note: ‘std::optional’ is only available from C++17 onwards
92 | std::optional variablePos(Key key) const;
| ^~~
/usr/include/gtsam/inference/DotWriter.h:97:33: error: ‘optional’ in namespace ‘std’ does not name a template type
97 | const std::optional& position,
| ^~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:97:28: note: ‘std::optional’ is only available from C++17 onwards
97 | const std::optional& position,
| ^~~
/usr/include/gtsam/inference/DotWriter.h:97:41: error: expected ‘,’ or ‘...’ before ‘<’ token
97 | const std::optional& position,
| ^
In file included from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:56:8: error: ‘optional’ in namespace ‘std’ does not name a template type
56 | std::optional extractPosition(const Value& value) const;
| ^~~~~~~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:56:3: note: ‘std::optional’ is only available from C++17 onwards
56 | std::optional extractPosition(const Value& value) const;
| ^~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:59:8: error: ‘optional’ in namespace ‘std’ does not name a template type
59 | std::optional variablePos(const Values& values, const Vector2& min,
| ^~~~~~~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:59:3: note: ‘std::optional’ is only available from C++17 onwards
59 | std::optional variablePos(const Values& values, const Vector2& min,
| ^~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:63:8: error: ‘optional’ in namespace ‘std’ does not name a template type
63 | std::optional factorPos(const Vector2& min, size_t i) const;
| ^~~~~~~~
/usr/include/gtsam/nonlinear/GraphvizFormatting.h:63:3: note: ‘std::optional’ is only available from C++17 onwards
63 | std::optional factorPos(const Vector2& min, size_t i) const;
| ^~~
In file included from /usr/include/gtsam/inference/FactorGraph.h:451,
from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:27,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/inference/FactorGraph-inst.h: In member function ‘void gtsam::FactorGraph::dot(std::ostream&, const KeyFormatter&, const gtsam::DotWriter&) const’:
/usr/include/gtsam/inference/FactorGraph-inst.h:148:28: error: ‘const struct gtsam::DotWriter’ has no member named ‘variablePos’; did you mean ‘variablePositions’?
148 | auto position = writer.variablePos(key);
| ^~~~~~~~~~~
| variablePositions
/usr/include/gtsam/inference/FactorGraph-inst.h:158:64: error: no matching function for call to ‘gtsam::DotWriter::processFactor(size_t&, const KeyVector&, const KeyFormatter&, , std::ostream*) const’
158 | writer.processFactor(i, factorKeys, keyFormatter, {}, &os);
| ^
In file included from /usr/include/gtsam/nonlinear/GraphvizFormatting.h:21,
from /usr/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:21,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/inference/DotWriter.h:95:8: note: candidate: ‘void gtsam::DotWriter::processFactor(size_t, const KeyVector&, const KeyFormatter&, int) const’
95 | void processFactor(size_t i, const KeyVector& keys,
| ^~~~~~~~~~~~~
/usr/include/gtsam/inference/DotWriter.h:95:8: note: candidate expects 4 arguments, 5 provided
In file included from /usr/include/gtsam/linear/GaussianFactorGraph.h:25,
from /usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/inference/EliminateableFactorGraph.h: At global scope:
/usr/include/gtsam/inference/EliminateableFactorGraph.h:94:18: error: ‘optional’ in namespace ‘std’ does not name a template type
94 | typedef std::optional<std::reference_wrapper> OptionalVariableIndex;
| ^~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:94:13: note: ‘std::optional’ is only available from C++17 onwards
94 | typedef std::optional<std::reference_wrapper> OptionalVariableIndex;
| ^~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:97:18: error: ‘optional’ in namespace ‘std’ does not name a template type
97 | typedef std::optionalOrdering::OrderingType OptionalOrderingType;
| ^~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:97:13: note: ‘std::optional’ is only available from C++17 onwards
97 | typedef std::optionalOrdering::OrderingType OptionalOrderingType;
| ^~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:120:7: error: ‘OptionalOrderingType’ has not been declared
120 | OptionalOrderingType orderingType = {},
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:122:7: error: ‘OptionalVariableIndex’ has not been declared
122 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:141:7: error: ‘OptionalVariableIndex’ has not been declared
141 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:160:7: error: ‘OptionalOrderingType’ has not been declared
160 | OptionalOrderingType orderingType = {},
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:162:7: error: ‘OptionalVariableIndex’ has not been declared
162 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:176:7: error: ‘OptionalVariableIndex’ has not been declared
176 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:186:7: error: ‘OptionalVariableIndex’ has not been declared
186 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:196:7: error: ‘OptionalVariableIndex’ has not been declared
196 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:206:7: error: ‘OptionalVariableIndex’ has not been declared
206 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:216:7: error: ‘OptionalVariableIndex’ has not been declared
216 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:230:7: error: ‘OptionalVariableIndex’ has not been declared
230 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:246:7: error: ‘OptionalVariableIndex’ has not been declared
246 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:260:7: error: ‘OptionalVariableIndex’ has not been declared
260 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:276:7: error: ‘OptionalVariableIndex’ has not been declared
276 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:282:7: error: ‘OptionalVariableIndex’ has not been declared
282 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/gtsam/linear/GaussianFactorGraph.h:25,
from /usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/inference/EliminateableFactorGraph.h: At global scope:
/usr/include/gtsam/inference/EliminateableFactorGraph.h:94:18: error: ‘optional’ in namespace ‘std’ does not name a template type
94 | typedef std::optional<std::reference_wrapper> OptionalVariableIndex;
| ^~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:94:13: note: ‘std::optional’ is only available from C++17 onwards
94 | typedef std::optional<std::reference_wrapper> OptionalVariableIndex;
| ^~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:97:18: error: ‘optional’ in namespace ‘std’ does not name a template type
97 | typedef std::optionalOrdering::OrderingType OptionalOrderingType;
| ^~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:97:13: note: ‘std::optional’ is only available from C++17 onwards
97 | typedef std::optionalOrdering::OrderingType OptionalOrderingType;
| ^~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:120:7: error: ‘OptionalOrderingType’ has not been declared
120 | OptionalOrderingType orderingType = {},
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:122:7: error: ‘OptionalVariableIndex’ has not been declared
122 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:141:7: error: ‘OptionalVariableIndex’ has not been declared
141 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:160:7: error: ‘OptionalOrderingType’ has not been declared
160 | OptionalOrderingType orderingType = {},
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:162:7: error: ‘OptionalVariableIndex’ has not been declared
162 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:176:7: error: ‘OptionalVariableIndex’ has not been declared
176 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:186:7: error: ‘OptionalVariableIndex’ has not been declared
186 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:196:7: error: ‘OptionalVariableIndex’ has not been declared
196 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:206:7: error: ‘OptionalVariableIndex’ has not been declared
206 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:216:7: error: ‘OptionalVariableIndex’ has not been declared
216 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:230:7: error: ‘OptionalVariableIndex’ has not been declared
230 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:246:7: error: ‘OptionalVariableIndex’ has not been declared
246 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:260:7: error: ‘OptionalVariableIndex’ has not been declared
260 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:276:7: error: ‘OptionalVariableIndex’ has not been declared
276 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
/usr/include/gtsam/inference/EliminateableFactorGraph.h:282:7: error: ‘OptionalVariableIndex’ has not been declared
282 | OptionalVariableIndex variableIndex = {}) const;
| ^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/linear/GaussianFactorGraph.h:61:14: error: ‘std::optional’ has not been declared
61 | std::optional<std::reference_wrapper> variableIndex) {
| ^~~~~~~~
/usr/include/gtsam/linear/GaussianFactorGraph.h:61:22: error: expected ‘,’ or ‘...’ before ‘<’ token
61 | std::optional<std::reference_wrapper> variableIndex) {
| ^
/usr/include/gtsam/linear/GaussianFactorGraph.h: In static member function ‘static gtsam::Ordering gtsam::EliminationTraitsgtsam::GaussianFactorGraph::DefaultOrderingFunc(const FactorGraphType&, int)’:
/usr/include/gtsam/linear/GaussianFactorGraph.h:62:33: error: ‘variableIndex’ was not declared in this scope; did you mean ‘VariableIndex’?
62 | return Ordering::Colamd((variableIndex).get());
| ^~~~~~~~~~~~~
| VariableIndex
In file included from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h: At global scope:
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:108:8: error: ‘optional’ in namespace ‘std’ does not name a template type
108 | std::optional ordering; ///< The optional variable elimination ordering, or empty to use COLAMD (default: empty)
| ^~~~~~~~
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:108:3: note: ‘std::optional’ is only available from C++17 onwards
108 | std::optional ordering; ///< The optional variable elimination ordering, or empty to use COLAMD (default: empty)
| ^~~
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h: In member function ‘void gtsam::NonlinearOptimizerParams::setOrdering(const gtsam::Ordering&)’:
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:173:11: error: ‘class gtsam::NonlinearOptimizerParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
173 | this->ordering = ordering;
| ^~~~~~~~
| orderingType
In file included from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:24,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h: In static member function ‘static gtsam::LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::EnsureHasOrdering(gtsam::LevenbergMarquardtParams, const gtsam::NonlinearFactorGraph&)’:
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h:114:17: error: ‘class gtsam::LevenbergMarquardtParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
114 | if (!params.ordering)
| ^~~~~~~~
| orderingType
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h:115:14: error: ‘class gtsam::LevenbergMarquardtParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
115 | params.ordering = Ordering::Create(params.orderingType, graph);
| ^~~~~~~~
| orderingType
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h: In static member function ‘static gtsam::LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::ReplaceOrdering(gtsam::LevenbergMarquardtParams, const gtsam::Ordering&)’:
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h:121:12: error: ‘class gtsam::LevenbergMarquardtParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
121 | params.ordering = ordering;
| ^~~~~~~~
| orderingType
In file included from /usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/linear/GaussianFactorGraph.h:61:14: error: ‘std::optional’ has not been declared
61 | std::optional<std::reference_wrapper> variableIndex) {
| ^~~~~~~~
/usr/include/gtsam/linear/GaussianFactorGraph.h:61:22: error: expected ‘,’ or ‘...’ before ‘<’ token
61 | std::optional<std::reference_wrapper> variableIndex) {
| ^
/usr/include/gtsam/linear/GaussianFactorGraph.h: In static member function ‘static gtsam::Ordering gtsam::EliminationTraitsgtsam::GaussianFactorGraph::DefaultOrderingFunc(const FactorGraphType&, int)’:
/usr/include/gtsam/linear/GaussianFactorGraph.h:62:33: error: ‘variableIndex’ was not declared in this scope; did you mean ‘VariableIndex’?
62 | return Ordering::Colamd((variableIndex).get());
| ^~~~~~~~~~~~~
| VariableIndex
In file included from /usr/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:23,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h: At global scope:
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:108:8: error: ‘optional’ in namespace ‘std’ does not name a template type
108 | std::optional ordering; ///< The optional variable elimination ordering, or empty to use COLAMD (default: empty)
| ^~~~~~~~
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:108:3: note: ‘std::optional’ is only available from C++17 onwards
108 | std::optional ordering; ///< The optional variable elimination ordering, or empty to use COLAMD (default: empty)
| ^~~
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h: In member function ‘void gtsam::NonlinearOptimizerParams::setOrdering(const gtsam::Ordering&)’:
/usr/include/gtsam/nonlinear/NonlinearOptimizerParams.h:173:11: error: ‘class gtsam::NonlinearOptimizerParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
173 | this->ordering = ordering;
| ^~~~~~~~
| orderingType
In file included from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:24,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h: In static member function ‘static gtsam::LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::EnsureHasOrdering(gtsam::LevenbergMarquardtParams, const gtsam::NonlinearFactorGraph&)’:
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h:114:17: error: ‘class gtsam::LevenbergMarquardtParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
114 | if (!params.ordering)
| ^~~~~~~~
| orderingType
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h:115:14: error: ‘class gtsam::LevenbergMarquardtParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
115 | params.ordering = Ordering::Create(params.orderingType, graph);
| ^~~~~~~~
| orderingType
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h: In static member function ‘static gtsam::LevenbergMarquardtParams gtsam::LevenbergMarquardtParams::ReplaceOrdering(gtsam::LevenbergMarquardtParams, const gtsam::Ordering&)’:
/usr/include/gtsam/nonlinear/LevenbergMarquardtParams.h:121:12: error: ‘class gtsam::LevenbergMarquardtParams’ has no member named ‘ordering’; did you mean ‘orderingType’?
121 | params.ordering = ordering;
| ^~~~~~~~
| orderingType
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘class stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >’:
/usr/include/c++/9/type_traits:1294:12: required from ‘struct std::is_base_of<gtsam::NonlinearFactor, stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >’
/usr/include/gtsam/inference/FactorGraph.h:114:9: required by substitution of ‘template template using IsDerived = typename std::enable_if<std::is_base_of<_Tp, _Up>::value>::type [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; FACTOR = gtsam::NonlinearFactor]’
/usr/include/gtsam/inference/FactorGraph.h:193:28: required by substitution of ‘template<class DERIVEDFACTOR, class ... Args> gtsam::FactorGraphgtsam::NonlinearFactor::IsDerived gtsam::FactorGraphgtsam::NonlinearFactor::emplace_shared<DERIVEDFACTOR, Args ...>(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; Args = ]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:209:159: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:49:19: error: ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::ProjectionFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::evaluateError(const POSE&, const LANDMARK&, boost::optional<Eigen::Matrix<double, -1, -1>&>, boost::optional<Eigen::Matrix<double, -1, -1>&>) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = gtsam::Cal3_S2; CAMERA = stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’ marked ‘override’, but does not override
49 | gtsam::Vector evaluateError(const POSE& pose, const LANDMARK& point,
| ^~~~~~~~~~~~~
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘class stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >’:
/usr/include/c++/9/type_traits:1294:12: required from ‘struct std::is_base_of<gtsam::NonlinearFactor, stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >’
/usr/include/gtsam/inference/FactorGraph.h:114:9: required by substitution of ‘template template using IsDerived = typename std::enable_if<std::is_base_of<_Tp, _Up>::value>::type [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; FACTOR = gtsam::NonlinearFactor]’
/usr/include/gtsam/inference/FactorGraph.h:193:28: required by substitution of ‘template<class DERIVEDFACTOR, class ... Args> gtsam::FactorGraphgtsam::NonlinearFactor::IsDerived gtsam::FactorGraphgtsam::NonlinearFactor::emplace_shared<DERIVEDFACTOR, Args ...>(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; Args = ]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:219:159: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:49:19: error: ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::ProjectionFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::evaluateError(const POSE&, const LANDMARK&, boost::optional<Eigen::Matrix<double, -1, -1>&>, boost::optional<Eigen::Matrix<double, -1, -1>&>) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration; CAMERA = stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’ marked ‘override’, but does not override
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘class stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>’:
/usr/include/c++/9/type_traits:1294:12: required from ‘struct std::is_base_of<gtsam::NonlinearFactor, stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >’
/usr/include/gtsam/inference/FactorGraph.h:114:9: required by substitution of ‘template template using IsDerived = typename std::enable_if<std::is_base_of<_Tp, _Up>::value>::type [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; FACTOR = gtsam::NonlinearFactor]’
/usr/include/gtsam/inference/FactorGraph.h:193:28: required by substitution of ‘template<class DERIVEDFACTOR, class ... Args> gtsam::FactorGraphgtsam::NonlinearFactor::IsDerived gtsam::FactorGraphgtsam::NonlinearFactor::emplace_shared<DERIVEDFACTOR, Args ...>(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; Args = ]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:238:148: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:227:19: error: ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::evaluateError(const POSE&, const LANDMARK&, boost::optional<Eigen::Matrix<double, -1, -1>&>, boost::optional<Eigen::Matrix<double, -1, -1>&>) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = gtsam::Cal3_S2Stereo; STEREO_CAMERA = gtsam::StereoCamera; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’ marked ‘override’, but does not override
227 | gtsam::Vector evaluateError(const POSE& pose, const LANDMARK& point,
| ^~~~~~~~~~~~~
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc: In member function ‘virtual void stella_vslam::optimize::local_bundle_adjuster_gtsam::optimize(stella_vslam::data::map_database, const std::shared_ptr<stella_vslam::data::keyframe>&, bool) const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:272:114: error: no matching function for call to ‘dynamic_pointer_cast<gtsam::PriorFactorgtsam::Pose3 >(const std::shared_ptrgtsam::NonlinearFactor&)’
272 | const auto& prior_factor = boost::dynamic_pointer_cast<gtsam::PriorFactorgtsam::Pose3>(nonlinear_factor);
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(const boost::shared_ptr&)’
898 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr const & r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:272:114: note: ‘const std::shared_ptrgtsam::NonlinearFactor’ is not derived from ‘const boost::shared_ptr’
272 | const auto& prior_factor = boost::dynamic_pointer_cast<gtsam::PriorFactorgtsam::Pose3>(nonlinear_factor);
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(boost::shared_ptr&&)’
940 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr && r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:272:114: note: types ‘boost::shared_ptr’ and ‘const std::shared_ptrgtsam::NonlinearFactor’ have incompatible cv-qualifiers
272 | const auto& prior_factor = boost::dynamic_pointer_cast<gtsam::PriorFactorgtsam::Pose3>(nonlinear_factor);
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:278:141: error: no matching function for call to ‘dynamic_pointer_cast<gtsam::NoiseModelFactorN<gtsam::Pose3, Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(const std::shared_ptrgtsam::NonlinearFactor&)’
278 | const auto& noise_model_factor = boost::dynamic_pointer_cast<gtsam::NoiseModelFactor2<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor);
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(const boost::shared_ptr&)’
898 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr const & r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:278:141: note: ‘const std::shared_ptrgtsam::NonlinearFactor’ is not derived from ‘const boost::shared_ptr’
278 | const auto& noise_model_factor = boost::dynamic_pointer_cast<gtsam::NoiseModelFactor2<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor);
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(boost::shared_ptr&&)’
940 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr && r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:278:141: note: types ‘boost::shared_ptr’ and ‘const std::shared_ptrgtsam::NonlinearFactor’ have incompatible cv-qualifiers
278 | const auto& noise_model_factor = boost::dynamic_pointer_cast<gtsam::NoiseModelFactor2<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor);
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:288:156: error: no matching function for call to ‘dynamic_pointer_cast<stella_vslam::optimize::internal_gtsam::ProjectionFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(const std::shared_ptrgtsam::NonlinearFactor&)’
288 | const auto& projection_factor = boost::dynamic_pointer_cast<internal_gtsam::ProjectionFactorBase<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor);
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(const boost::shared_ptr&)’
898 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr const & r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:288:156: note: ‘const std::shared_ptrgtsam::NonlinearFactor’ is not derived from ‘const boost::shared_ptr’
288 | const auto& projection_factor = boost::dynamic_pointer_cast<internal_gtsam::ProjectionFactorBase<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor);
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:16:
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(boost::shared_ptr&&)’
940 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr && r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:288:156: note: types ‘boost::shared_ptr’ and ‘const std::shared_ptrgtsam::NonlinearFactor’ have incompatible cv-qualifiers
288 | const auto& projection_factor = boost::dynamic_pointer_cast<internal_gtsam::ProjectionFactorBase<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor);
| ^
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘class stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >’:
/usr/include/c++/9/type_traits:1294:12: required from ‘struct std::is_base_of<gtsam::NonlinearFactor, stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >’
/usr/include/gtsam/inference/FactorGraph.h:114:9: required by substitution of ‘template template using IsDerived = typename std::enable_if<std::is_base_of<_Tp, _Up>::value>::type [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; FACTOR = gtsam::NonlinearFactor]’
/usr/include/gtsam/inference/FactorGraph.h:193:28: required by substitution of ‘template<class DERIVEDFACTOR, class ... Args> gtsam::FactorGraphgtsam::NonlinearFactor::IsDerived gtsam::FactorGraphgtsam::NonlinearFactor::emplace_shared<DERIVEDFACTOR, Args ...>(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; Args = ]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:111:130: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:303:19: error: ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::PoseOptFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::evaluateError(const gtsam::Pose3&, boost::optional<Eigen::Matrix<double, -1, -1>&>) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = gtsam::Cal3_S2; CAMERA = stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’ marked ‘override’, but does not override
303 | gtsam::Vector evaluateError(const gtsam::Pose3& pose,
| ^~~~~~~~~~~~~
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘class stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >’:
/usr/include/c++/9/type_traits:1294:12: required from ‘struct std::is_base_of<gtsam::NonlinearFactor, stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >’
/usr/include/gtsam/inference/FactorGraph.h:114:9: required by substitution of ‘template template using IsDerived = typename std::enable_if<std::is_base_of<_Tp, _Up>::value>::type [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; FACTOR = gtsam::NonlinearFactor]’
/usr/include/gtsam/inference/FactorGraph.h:193:28: required by substitution of ‘template<class DERIVEDFACTOR, class ... Args> gtsam::FactorGraphgtsam::NonlinearFactor::IsDerived gtsam::FactorGraphgtsam::NonlinearFactor::emplace_shared<DERIVEDFACTOR, Args ...>(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; Args = ]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:121:130: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:303:19: error: ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::PoseOptFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::evaluateError(const gtsam::Pose3&, boost::optional<Eigen::Matrix<double, -1, -1>&>) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration; CAMERA = stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’ marked ‘override’, but does not override
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘class stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>’:
/usr/include/c++/9/type_traits:1294:12: required from ‘struct std::is_base_of<gtsam::NonlinearFactor, stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >’
/usr/include/gtsam/inference/FactorGraph.h:114:9: required by substitution of ‘template template using IsDerived = typename std::enable_if<std::is_base_of<_Tp, _Up>::value>::type [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; FACTOR = gtsam::NonlinearFactor]’
/usr/include/gtsam/inference/FactorGraph.h:193:28: required by substitution of ‘template<class DERIVEDFACTOR, class ... Args> gtsam::FactorGraphgtsam::NonlinearFactor::IsDerived gtsam::FactorGraphgtsam::NonlinearFactor::emplace_shared<DERIVEDFACTOR, Args ...>(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; Args = ]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:142:127: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:352:19: error: ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::evaluateError(const gtsam::Pose3&, boost::optional<Eigen::Matrix<double, -1, -1>&>) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = gtsam::Cal3_S2Stereo; STEREO_CAMERA = gtsam::StereoCamera; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’ marked ‘override’, but does not override
352 | gtsam::Vector evaluateError(const gtsam::Pose3& pose,
| ^~~~~~~~~~~~~
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc: In member function ‘virtual unsigned int stella_vslam::optimize::pose_optimizer_gtsam::optimize(const Mat44_t&, const stella_vslam::data::frame_observation&, const stella_vslam::feature::orb_params*, const stella_vslam::camera::base*, const std::vector<std::shared_ptr<stella_vslam::data::landmark> >&, stella_vslam::Mat44_t&, std::vector&) const’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:182:183: error: no matching function for call to ‘dynamic_pointer_cast<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1, 0, 3, 1> > >(const std::shared_ptrgtsam::NonlinearFactor&)’
182 | const auto& factor = (outlier_factors.at(i) == nullptr) ? boost::dynamic_pointer_cast<internal_gtsam::PoseOptFactorBase<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor)
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(const boost::shared_ptr&)’
898 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr const & r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:898:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:182:183: note: ‘const std::shared_ptrgtsam::NonlinearFactor’ is not derived from ‘const boost::shared_ptr’
182 | const auto& factor = (outlier_factors.at(i) == nullptr) ? boost::dynamic_pointer_cast<internal_gtsam::PoseOptFactorBase<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor)
| ^
In file included from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/boost/date_time/gregorian/greg_month.hpp:14,
from /usr/include/boost/date_time/gregorian/greg_ymd.hpp:16,
from /usr/include/boost/date_time/gregorian/greg_calendar.hpp:17,
from /usr/include/boost/date_time/gregorian/gregorian_types.hpp:19,
from /usr/include/boost/date_time/posix_time/posix_time_config.hpp:18,
from /usr/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/include/boost/date_time/posix_time/posix_time.hpp:15,
from /usr/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:26,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:15:
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: candidate: ‘template<class T, class U> boost::shared_ptr boost::dynamic_pointer_cast(boost::shared_ptr&&)’
940 | template<class T, class U> shared_ptr dynamic_pointer_cast( shared_ptr && r ) BOOST_SP_NOEXCEPT
| ^~~~~~~~~~~~~~~~~~~~
/usr/include/boost/smart_ptr/shared_ptr.hpp:940:42: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:182:183: note: types ‘boost::shared_ptr’ and ‘const std::shared_ptrgtsam::NonlinearFactor’ have incompatible cv-qualifiers
182 | const auto& factor = (outlier_factors.at(i) == nullptr) ? boost::dynamic_pointer_cast<internal_gtsam::PoseOptFactorBase<gtsam::Pose3, gtsam::Point3>>(nonlinear_factor)
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:206:56: error: no match for ‘operator=’ (operand types are ‘gtsam::FactorGraphgtsam::NonlinearFactor::sharedFactor’ {aka ‘std::shared_ptrgtsam::NonlinearFactor’} and ‘__gnu_cxx::__alloc_traits<std::allocator<boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >::value_type’ {aka ‘boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > >’})
206 | graph[i] = outlier_factors.at(i);
| ^
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:309:19: note: candidate: ‘std::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Tp>&) [with _Tp = gtsam::NonlinearFactor]’
309 | shared_ptr& operator=(const shared_ptr&) noexcept = default;
| ^~~~~~~~
/usr/include/c++/9/bits/shared_ptr.h:309:29: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >::value_type’ {aka ‘boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > >’} to ‘const std::shared_ptrgtsam::NonlinearFactor&’
309 | shared_ptr& operator=(const shared_ptr&) noexcept = default;
| ^~~~~~~~~~~~~~~~~
/usr/include/c++/9/bits/shared_ptr.h:313:2: note: candidate: ‘template std::shared_ptr<_Tp>::_Assignable<const std::shared_ptr<_Yp>&> std::shared_ptr<_Tp>::operator=(const std::shared_ptr<_Yp>&) [with _Yp = _Yp; _Tp = gtsam::NonlinearFactor]’
313 | operator=(const shared_ptr<_Yp>& __r) noexcept
| ^~~~~~~~
/usr/include/c++/9/bits/shared_ptr.h:313:2: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:206:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >::value_type’ {aka ‘boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > >’} is not derived from ‘const std::shared_ptr<_Tp>’
206 | graph[i] = outlier_factors.at(i);
| ^
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:324:2: note: candidate: ‘template std::shared_ptr<_Tp>::_Assignable<std::auto_ptr<_Up> > std::shared_ptr<_Tp>::operator=(std::auto_ptr<_Up>&&) [with _Yp = _Yp; _Tp = gtsam::NonlinearFactor]’
324 | operator=(auto_ptr<_Yp>&& __r)
| ^~~~~~~~
/usr/include/c++/9/bits/shared_ptr.h:324:2: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:206:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >::value_type’ {aka ‘boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > >’} is not derived from ‘std::auto_ptr<_Up>’
206 | graph[i] = outlier_factors.at(i);
| ^
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:333:7: note: candidate: ‘std::shared_ptr<_Tp>& std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Tp>&&) [with _Tp = gtsam::NonlinearFactor]’
333 | operator=(shared_ptr&& __r) noexcept
| ^~~~~~~~
/usr/include/c++/9/bits/shared_ptr.h:333:30: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >::value_type’ {aka ‘boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > >’} to ‘std::shared_ptrgtsam::NonlinearFactor&&’
333 | operator=(shared_ptr&& __r) noexcept
| ~~~~~~~~~~~~~^~~
/usr/include/c++/9/bits/shared_ptr.h:341:2: note: candidate: ‘template std::shared_ptr<_Tp>::_Assignable<std::shared_ptr<_Yp> > std::shared_ptr<_Tp>::operator=(std::shared_ptr<_Yp>&&) [with _Yp = _Yp; _Tp = gtsam::NonlinearFactor]’
341 | operator=(shared_ptr<_Yp>&& __r) noexcept
| ^~~~~~~~
/usr/include/c++/9/bits/shared_ptr.h:341:2: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:206:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >::value_type’ {aka ‘boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > >’} is not derived from ‘std::shared_ptr<_Tp>’
206 | graph[i] = outlier_factors.at(i);
| ^
In file included from /usr/include/c++/9/memory:81,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:9,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/bits/shared_ptr.h:349:2: note: candidate: ‘template<class _Yp, class _Del> std::shared_ptr<_Tp>::_Assignable<std::unique_ptr<_Up, _Ep> > std::shared_ptr<_Tp>::operator=(std::unique_ptr<_Up, _Ep>&&) [with _Yp = _Yp; _Del = _Del; _Tp = gtsam::NonlinearFactor]’
349 | operator=(unique_ptr<_Yp, _Del>&& __r)
| ^~~~~~~~
/usr/include/c++/9/bits/shared_ptr.h:349:2: note: template argument deduction/substitution failed:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:206:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > > >::value_type’ {aka ‘boost::shared_ptr<stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, Eigen::Matrix<double, 3, 1> > >’} is not derived from ‘std::unique_ptr<_Tp, _Dp>’
206 | graph[i] = outlier_factors.at(i);
| ^
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
from /usr/include/c++/9/bits/allocator.h:46,
from /usr/include/c++/9/vector:64,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >]’:
/usr/include/c++/9/bits/alloc_traits.h:244:4: required from ‘static std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> std::allocator_traits<_Alloc>::_S_construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> = void]’
/usr/include/c++/9/bits/alloc_traits.h:350:16: required from ‘static decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) std::allocator_traits<_Alloc>::construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) = void]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71: required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59: required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >]’
/usr/include/c++/9/bits/shared_ptr.h:701:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}]’
/usr/include/gtsam/inference/FactorGraph.h:194:59: required from ‘gtsam::FactorGraph::IsDerived gtsam::FactorGraph::emplace_shared(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph::IsDerived = void]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:111:130: required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: invalid new-expression of abstract class type ‘stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >’
146 | { ::new((void )__p) _Up(std::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:288:7: note: because the following virtual functions are pure within ‘stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >’:
288 | class PoseOptFactor : public PoseOptFactorBase<POSE, LANDMARK> {
| ^~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:642:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {gtsam::Pose3}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
642 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
from /usr/include/c++/9/bits/allocator.h:46,
from /usr/include/c++/9/vector:64,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up, _Args&& ...) [with _Up = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >]’:
/usr/include/c++/9/bits/alloc_traits.h:244:4: required from ‘static std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> std::allocator_traits<_Alloc>::_S_construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> = void]’
/usr/include/c++/9/bits/alloc_traits.h:350:16: required from ‘static decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) std::allocator_traits<_Alloc>::construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) = void]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71: required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59: required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >]’
/usr/include/c++/9/bits/shared_ptr.h:701:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}]’
/usr/include/gtsam/inference/FactorGraph.h:194:59: required from ‘gtsam::FactorGraph::IsDerived gtsam::FactorGraph::emplace_shared(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph::IsDerived = void]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:121:130: required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: invalid new-expression of abstract class type ‘stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >’
146 | { ::new((void )__p) _Up(std::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:288:7: note: because the following virtual functions are pure within ‘stella_vslam::optimize::internal_gtsam::PoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >’:
288 | class PoseOptFactor : public PoseOptFactorBase<POSE, LANDMARK> {
| ^~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:642:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {gtsam::Pose3}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
642 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
from /usr/include/c++/9/bits/allocator.h:46,
from /usr/include/c++/9/vector:64,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up, _Args&& ...) [with _Up = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>]’:
/usr/include/c++/9/bits/alloc_traits.h:244:4: required from ‘static std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> std::allocator_traits<_Alloc>::_S_construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> = void]’
/usr/include/c++/9/bits/alloc_traits.h:350:16: required from ‘static decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) std::allocator_traits<_Alloc>::construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) = void]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71: required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59: required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>]’
/usr/include/c++/9/bits/shared_ptr.h:701:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}]’
/usr/include/gtsam/inference/FactorGraph.h:194:59: required from ‘gtsam::FactorGraph::IsDerived gtsam::FactorGraph::emplace_shared(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; Args = {Eigen::Matrix<double, 3, 1, 0, 3, 1>, unsigned int&, gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph::IsDerived = void]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:142:127: required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: invalid new-expression of abstract class type ‘stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>’
146 | { ::new((void )__p) _Up(std::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:337:7: note: because the following virtual functions are pure within ‘stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>’:
337 | class StereoPoseOptFactor : public PoseOptFactorBase<POSE, LANDMARK> {
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:642:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {gtsam::Pose3}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
642 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
from /usr/include/c++/9/bits/allocator.h:46,
from /usr/include/c++/9/vector:64,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up, _Args&& ...) [with _Up = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >]’:
/usr/include/c++/9/bits/alloc_traits.h:244:4: required from ‘static std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> std::allocator_traits<_Alloc>::_S_construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> = void]’
/usr/include/c++/9/bits/alloc_traits.h:350:16: required from ‘static decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) std::allocator_traits<_Alloc>::construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) = void]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71: required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59: required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >]’
/usr/include/c++/9/bits/shared_ptr.h:701:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}]’
/usr/include/gtsam/inference/FactorGraph.h:194:59: required from ‘gtsam::FactorGraph::IsDerived gtsam::FactorGraph::emplace_shared(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >; Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2&}; FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph::IsDerived = void]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:209:159: required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: invalid new-expression of abstract class type ‘stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >’
146 | { ::new((void )__p) _Up(std::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:34:7: note: because the following virtual functions are pure within ‘stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2, stella_vslam::optimize::internal_gtsam::PinholeCameragtsam::Cal3_S2 >’:
34 | class ProjectionFactor : public ProjectionFactorBase<POSE, LANDMARK> {
| ^~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:642:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {gtsam::Pose3, Eigen::Matrix<double, 3, 1, 0, 3, 1>}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
642 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
from /usr/include/c++/9/bits/allocator.h:46,
from /usr/include/c++/9/vector:64,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up, _Args&& ...) [with _Up = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >]’:
/usr/include/c++/9/bits/alloc_traits.h:244:4: required from ‘static std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> std::allocator_traits<_Alloc>::_S_construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> = void]’
/usr/include/c++/9/bits/alloc_traits.h:350:16: required from ‘static decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) std::allocator_traits<_Alloc>::construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) = void]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71: required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59: required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >]’
/usr/include/c++/9/bits/shared_ptr.h:701:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> > >; _Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}]’
/usr/include/gtsam/inference/FactorGraph.h:194:59: required from ‘gtsam::FactorGraph::IsDerived gtsam::FactorGraph::emplace_shared(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >; Args = {Eigen::Matrix<double, 2, 1, 0, 2, 1>&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, boost::shared_ptr<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>&}; FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph::IsDerived = void]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:219:159: required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: invalid new-expression of abstract class type ‘stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >’
146 | { ::new((void )__p) _Up(std::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:34:7: note: because the following virtual functions are pure within ‘stella_vslam::optimize::internal_gtsam::ProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration, stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration> >’:
34 | class ProjectionFactor : public ProjectionFactorBase<POSE, LANDMARK> {
| ^~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:642:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {gtsam::Pose3, Eigen::Matrix<double, 3, 1, 0, 3, 1>}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
642 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
from /usr/include/c++/9/bits/allocator.h:46,
from /usr/include/c++/9/vector:64,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/type.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/base.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/camera/equirectangular.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up, _Args&& ...) [with _Up = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>]’:
/usr/include/c++/9/bits/alloc_traits.h:244:4: required from ‘static std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> std::allocator_traits<_Alloc>::_S_construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; std::_Require<typename std::allocator_traits<_Alloc>::__construct_helper<_Tp, _Args>::type> = void]’
/usr/include/c++/9/bits/alloc_traits.h:350:16: required from ‘static decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) std::allocator_traits<_Alloc>::construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; decltype (std::allocator_traits<_Alloc>::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits::construct::__args)...)) = void]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71: required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59: required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>]’
/usr/include/c++/9/bits/shared_ptr.h:701:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; _Alloc = Eigen::aligned_allocator<stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera> >; _Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}]’
/usr/include/gtsam/inference/FactorGraph.h:194:59: required from ‘gtsam::FactorGraph::IsDerived gtsam::FactorGraph::emplace_shared(Args&& ...) [with DERIVEDFACTOR = stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>; Args = {gtsam::StereoPoint2&, std::shared_ptrgtsam::noiseModel::Robust&, gtsam::Symbol, gtsam::Symbol, std::shared_ptrgtsam::Cal3_S2Stereo&}; FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph::IsDerived = void]’
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:238:148: required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: invalid new-expression of abstract class type ‘stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>’
146 | { ::new((void *)__p) _Up(std::forward<Args>(args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:212:7: note: because the following virtual functions are pure within ‘stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<gtsam::Pose3, Eigen::Matrix<double, 3, 1>, gtsam::Cal3_S2Stereo, gtsam::StereoCamera>’:
212 | class StereoProjectionFactor : public ProjectionFactorBase<POSE, LANDMARK> {
| ^~~~~~~~~~~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:4,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/nonlinear/NonlinearFactor.h:642:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {gtsam::Pose3, Eigen::Matrix<double, 3, 1, 0, 3, 1>}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
642 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::StereoPoseOptFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::project(const gtsam::Pose3&) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = gtsam::Cal3_S2Stereo; STEREO_CAMERA = gtsam::StereoCamera; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:377:19: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:378:23: error: no matching function for call to ‘gtsam::StereoCamera::StereoCamera(const gtsam::Pose3&, const boost::shared_ptrgtsam::Cal3_S2Stereo&)’
378 | STEREO_CAMERA camera(pose, calibration);
| ^~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:7,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/usr/include/gtsam/geometry/StereoCamera.h:77:3: note: candidate: ‘gtsam::StereoCamera::StereoCamera(const gtsam::Pose3&, gtsam::Cal3_S2Stereo::shared_ptr)’
77 | StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo::shared_ptr K);
| ^~~~~~~~~~~~
/usr/include/gtsam/geometry/StereoCamera.h:77:74: note: no known conversion for argument 2 from ‘const boost::shared_ptrgtsam::Cal3_S2Stereo’ to ‘gtsam::Cal3_S2Stereo::shared_ptr’ {aka ‘std::shared_ptrgtsam::Cal3_S2Stereo’}
77 | StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo::shared_ptr K);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/usr/include/gtsam/geometry/StereoCamera.h:72:3: note: candidate: ‘gtsam::StereoCamera::StereoCamera()’
72 | StereoCamera() :
| ^~~~~~~~~~~~
/usr/include/gtsam/geometry/StereoCamera.h:72:3: note: candidate expects 0 arguments, 2 provided
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate: ‘gtsam::StereoCamera::StereoCamera(const gtsam::StereoCamera&)’
47 | class GTSAM_EXPORT StereoCamera {
| ^~~~~~~~~~~~
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate expects 1 argument, 2 provided
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate: ‘gtsam::StereoCamera::StereoCamera(gtsam::StereoCamera&&)’
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate expects 1 argument, 2 provided
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::PoseOptFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::project(const gtsam::Pose3&) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration; CAMERA = stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:328:19: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:116:100: error: could not convert ‘boost::none’ from ‘const boost::none_t’ to ‘gtsam::OptionalJacobian<2, 6>’
116 | gtsam::Point2 project(const gtsam::Point3& point, gtsam::OptionalJacobian<2, 6> Dpose = boost::none, gtsam::OptionalJacobian<2, 3> Dpoint = boost::none) const {
| ~~~~~~~^~~~
| |
| const boost::none_t
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:330:43: note: when instantiating default argument for call to ‘gtsam::Point2 stella_vslam::optimize::internal_gtsam::SphericalCamera::project(const Point3&, gtsam::OptionalJacobian<2, 6>, gtsam::OptionalJacobian<2, 3>) const [with CALIBRATION = stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration; gtsam::Point2 = Eigen::Matrix<double, 2, 1>; gtsam::Point3 = Eigen::Matrix<double, 3, 1>]’
330 | return camera.project(this->point);
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:330:43: error: could not convert ‘boost::none’ from ‘const boost::none_t’ to ‘gtsam::OptionalJacobian<2, 6>’
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::StereoProjectionFactor<POSE, LANDMARK, CALIBRATION, STEREO_CAMERA>::project(const POSE&, const LANDMARK&) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = gtsam::Cal3_S2Stereo; STEREO_CAMERA = gtsam::StereoCamera; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:254:19: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:255:23: error: no matching function for call to ‘gtsam::StereoCamera::StereoCamera(const gtsam::Pose3&, const boost::shared_ptrgtsam::Cal3_S2Stereo&)’
255 | STEREO_CAMERA camera(pose, calibration);
| ^~~~~~
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:7,
from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/usr/include/gtsam/geometry/StereoCamera.h:77:3: note: candidate: ‘gtsam::StereoCamera::StereoCamera(const gtsam::Pose3&, gtsam::Cal3_S2Stereo::shared_ptr)’
77 | StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo::shared_ptr K);
| ^~~~~~~~~~~~
/usr/include/gtsam/geometry/StereoCamera.h:77:74: note: no known conversion for argument 2 from ‘const boost::shared_ptrgtsam::Cal3_S2Stereo’ to ‘gtsam::Cal3_S2Stereo::shared_ptr’ {aka ‘std::shared_ptrgtsam::Cal3_S2Stereo’}
77 | StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo::shared_ptr K);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/usr/include/gtsam/geometry/StereoCamera.h:72:3: note: candidate: ‘gtsam::StereoCamera::StereoCamera()’
72 | StereoCamera() :
| ^~~~~~~~~~~~
/usr/include/gtsam/geometry/StereoCamera.h:72:3: note: candidate expects 0 arguments, 2 provided
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate: ‘gtsam::StereoCamera::StereoCamera(const gtsam::StereoCamera&)’
47 | class GTSAM_EXPORT StereoCamera {
| ^~~~~~~~~~~~
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate expects 1 argument, 2 provided
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate: ‘gtsam::StereoCamera::StereoCamera(gtsam::StereoCamera&&)’
/usr/include/gtsam/geometry/StereoCamera.h:47:20: note: candidate expects 1 argument, 2 provided
In file included from /home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/local_bundle_adjuster_gtsam.cc:7:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h: In instantiation of ‘gtsam::Vector stella_vslam::optimize::internal_gtsam::ProjectionFactor<POSE, LANDMARK, CALIBRATION, CAMERA>::project(const POSE&, const LANDMARK&) const [with POSE = gtsam::Pose3; LANDMARK = Eigen::Matrix<double, 3, 1>; CALIBRATION = stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration; CAMERA = stella_vslam::optimize::internal_gtsam::SphericalCamera<stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration>; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’:
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:76:19: required from here
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:116:100: error: could not convert ‘boost::none’ from ‘const boost::none_t’ to ‘gtsam::OptionalJacobian<2, 6>’
116 | gtsam::Point2 project(const gtsam::Point3& point, gtsam::OptionalJacobian<2, 6> Dpose = boost::none, gtsam::OptionalJacobian<2, 3> Dpoint = boost::none) const {
| ~~~~~~~^~~~
| |
| const boost::none_t
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:78:36: note: when instantiating default argument for call to ‘gtsam::Point2 stella_vslam::optimize::internal_gtsam::SphericalCamera::project(const Point3&, gtsam::OptionalJacobian<2, 6>, gtsam::OptionalJacobian<2, 3>) const [with CALIBRATION = stella_vslam::optimize::internal_gtsam::SphericalCameraCalibration; gtsam::Point2 = Eigen::Matrix<double, 2, 1>; gtsam::Point3 = Eigen::Matrix<double, 3, 1>]’
78 | return camera.project(point);
| ^
/home/mariah/tello_ws/src/stella_vslam/src/stella_vslam/optimize/internal_gtsam/projection_factor.h:78:36: error: could not convert ‘boost::none’ from ‘const boost::none_t’ to ‘gtsam::OptionalJacobian<2, 6>’
make[2]: *** [src/stella_vslam/CMakeFiles/stella_vslam.dir/build.make:752: src/stella_vslam/CMakeFiles/stella_vslam.dir/optimize/pose_optimizer_gtsam.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [src/stella_vslam/CMakeFiles/stella_vslam.dir/build.make:778: src/stella_vslam/CMakeFiles/stella_vslam.dir/optimize/local_bundle_adjuster_gtsam.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:516: src/stella_vslam/CMakeFiles/stella_vslam.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

Answered by ymd-stella

Feb 7, 2023

Build with -DUSE_GTSAM=OFF.

View full answer

ymd-stella · 2023-02-07T13:19:24Z

ymd-stella
Feb 7, 2023
Maintainer

Build with -DUSE_GTSAM=OFF.

2 replies

mgrallos Feb 10, 2023
Author

It worked for me. Thank you so much. Appreciate the reply. Is that something important?

ymd-stella Feb 10, 2023
Maintainer

gtsam was installed and trying to use it, but it was an incompatible version.

By default, g2o is used, so it is not required.

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Errors in Building stella_vslam #465

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Errors in Building stella_vslam #465

mgrallos Feb 7, 2023

Replies: 1 comment · 2 replies

ymd-stella Feb 7, 2023 Maintainer

mgrallos Feb 10, 2023 Author

ymd-stella Feb 10, 2023 Maintainer

mgrallos
Feb 7, 2023

Replies: 1 comment 2 replies

ymd-stella
Feb 7, 2023
Maintainer

mgrallos Feb 10, 2023
Author

ymd-stella Feb 10, 2023
Maintainer