I try to make this package and get the following error:
[ 66%] Building CXX object LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o
In file included from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:36:0:
/usr/local/include/gtsam/geometry/Rot3.h: In static member function ‘static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double)’:
/usr/local/include/gtsam/geometry/Rot3.h:197:51: error: no matching function for call to ‘gtsam::Rot3::rodriguez(Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >&)’
{ return rodriguez((Vector(3) << wx, wy, wz));}
^
/usr/local/include/gtsam/geometry/Rot3.h:164:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&, double)
static Rot3 rodriguez(const Vector& w, double theta);
^
/usr/local/include/gtsam/geometry/Rot3.h:164:17: note: candidate expects 2 arguments, 1 provided
/usr/local/include/gtsam/geometry/Rot3.h:172:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Point3&, double)
static Rot3 rodriguez(const Point3& w, double theta);
^
/usr/local/include/gtsam/geometry/Rot3.h:172:17: note: candidate expects 2 arguments, 1 provided
/usr/local/include/gtsam/geometry/Rot3.h:180:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const gtsam::Unit3&, double)
static Rot3 rodriguez(const Unit3& w, double theta);
^
/usr/local/include/gtsam/geometry/Rot3.h:180:17: note: candidate expects 2 arguments, 1 provided
/usr/local/include/gtsam/geometry/Rot3.h:187:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(const Vector&)
static Rot3 rodriguez(const Vector& v);
^
/usr/local/include/gtsam/geometry/Rot3.h:187:17: note: no known conversion for argument 1 from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘const Vector& {aka const Eigen::Matrix<double, -1, 1>&}’
/usr/local/include/gtsam/geometry/Rot3.h:196:17: note: candidate: static gtsam::Rot3 gtsam::Rot3::rodriguez(double, double, double)
static Rot3 rodriguez(double wx, double wy, double wz)
^
/usr/local/include/gtsam/geometry/Rot3.h:196:17: note: candidate expects 3 arguments, 1 provided
In file included from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:37:0:
/usr/local/include/gtsam/geometry/Pose3.h: In static member function ‘static gtsam::Matrix gtsam::Pose3::wedge(double, double, double, double, double, double)’:
/usr/local/include/gtsam/geometry/Pose3.h:226:28: error: could not convert ‘(&(&(&(&(&(&(&(&(&(&(&(&(&(& Eigen::DenseBase::operator<<(const Scalar&) with Derived = Eigen::Matrix<double, -1, -1>; Eigen::DenseBase::Scalar = double.Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((- wz)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(wy))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(vx))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(wz))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((- wx)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(vy))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >((- wy)))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(wx))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(vz))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0))->Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, -1> >(0.0)’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, -1> >’ to ‘gtsam::Matrix {aka Eigen::Matrix<double, -1, -1>}’
0., 0., 0., 0.);
^
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24:0,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:40:
/usr/local/include/gtsam/geometry/Point2.h: In static member function ‘static gtsam::Vector gtsam::Point2::Logmap(const gtsam::Point2&)’:
/usr/local/include/gtsam/geometry/Point2.h:175:86: error: could not convert ‘Eigen::DenseBase::operator<<(const Scalar&) [with Derived = Eigen::Matrix<double, -1, 1>; Eigen::DenseBase::Scalar = double]((& dp)->gtsam::Point2::x()).Eigen::CommaInitializer::operator,<Eigen::Matrix<double, -1, 1> >((& dp)->gtsam::Point2::y())’ from ‘Eigen::CommaInitializer<Eigen::Matrix<double, -1, 1> >’ to ‘gtsam::Vector {aka Eigen::Matrix<double, -1, 1>}’
static inline Vector Logmap(const Point2& dp) { return (Vector(2) << dp.x(), dp.y()); }
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h: In instantiation of ‘class gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:118:62: required from here
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:62:59: error: no type named ‘Index’ in ‘struct Eigen::internal::traits<gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix >’
typedef typename Eigen::internal::traits::Index Index;
^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::operator()(gtsam::DenseIndex, gtsam::DenseIndex)’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:119:43: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&)’
return Block(*this, i_block, j_block);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 3 provided
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h: In instantiation of ‘class gtsam::SymmetricBlockMatrixBlockExpr’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:124:73: required from here
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:62:59: error: no type named ‘Index’ in ‘struct Eigen::internal::traits<gtsam::SymmetricBlockMatrixBlockExpr >’
typedef typename Eigen::internal::traits::Index Index;
^
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::operator()(gtsam::DenseIndex, gtsam::DenseIndex) const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:125:48: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&)’
return constBlock(*this, i_block, j_block);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExpr&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 3 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::range(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex)’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:134:107: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&, gtsam::DenseIndex, gtsam::DenseIndex)’
return Block(*this, i_startBlock, j_startBlock, i_endBlock - i_startBlock, j_endBlock - j_startBlock);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 5 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::range(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex) const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:143:112: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrix&, gtsam::DenseIndex&, gtsam::DenseIndex&, gtsam::DenseIndex, gtsam::DenseIndex)’
return constBlock(*this, i_startBlock, j_startBlock, i_endBlock - i_startBlock, j_endBlock - j_startBlock);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExpr&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 5 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::full()’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:149:42: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(gtsam::SymmetricBlockMatrix&, int, gtsam::DenseIndex, int)’
return Block(this, 0, nBlocks(), 0);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 4 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::full() const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:155:47: error: no matching function for call to ‘gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrix&, int, gtsam::DenseIndex, int)’
return constBlock(this, 0, nBlocks(), 0);
^
In file included from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:22:0,
from /usr/local/include/gtsam/linear/HessianFactor.h:21,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate: constexpr gtsam::SymmetricBlockMatrixBlockExpr::SymmetricBlockMatrixBlockExpr(const gtsam::SymmetricBlockMatrixBlockExpr&)
class SymmetricBlockMatrixBlockExpr : public Eigen::EigenBase<SymmetricBlockMatrixBlockExpr >
^
/usr/local/include/gtsam/base/SymmetricBlockMatrixBlockExpr.h:46:9: note: candidate expects 1 argument, 4 provided
In file included from /usr/local/include/gtsam/linear/HessianFactor.h:21:0,
from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘Eigen::SelfAdjointView<const Eigen::Matrix<double, -1, -1>, 2u> gtsam::SymmetricBlockMatrix::matrix() const’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:161:14: error: could not convert ‘((const gtsam::SymmetricBlockMatrix)this)->gtsam::SymmetricBlockMatrix::matrix_’ from ‘const Matrix {aka const Eigen::Matrix<double, -1, -1>}’ to ‘Eigen::SelfAdjointView<const Eigen::Matrix<double, -1, -1>, 2u>’
return matrix_;
^
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function ‘Eigen::SelfAdjointView<Eigen::Matrix<double, -1, -1>, 2u> gtsam::SymmetricBlockMatrix::matrix()’:
/usr/local/include/gtsam/base/SymmetricBlockMatrix.h:167:14: error: could not convert ‘((gtsam::SymmetricBlockMatrix)this)->gtsam::SymmetricBlockMatrix::matrix_’ from ‘gtsam::Matrix {aka Eigen::Matrix<double, -1, -1>}’ to ‘Eigen::SelfAdjointView<Eigen::Matrix<double, -1, -1>, 2u>’
return matrix_;
^
In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28:0,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:23,
from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:21,
from /home/wangbx/catkin_ws/src/LeGO-LOAM/LeGO-LOAM/src/mapOptmization.cpp:41:
/usr/local/include/gtsam/linear/HessianFactor.h: In member function ‘double gtsam::HessianFactor::constantTerm() const’:
/usr/local/include/gtsam/linear/HessianFactor.h:287:79: error: no match for call to ‘(gtsam::SymmetricBlockMatrix::constBlock {aka gtsam::SymmetricBlockMatrixBlockExpr}) (int, int)’
double constantTerm() const { return info_(this->size(), this->size())(0,0); }
^
/usr/local/include/gtsam/linear/HessianFactor.h: In member function ‘double& gtsam::HessianFactor::constantTerm()’:
/usr/local/include/gtsam/linear/HessianFactor.h:292:74: error: no match for call to ‘(gtsam::SymmetricBlockMatrix::Block {aka gtsam::SymmetricBlockMatrixBlockExprgtsam::SymmetricBlockMatrix}) (int, int)’
double& constantTerm() { return info_(this->size(), this->size())(0,0); }
^
LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/build.make:62: recipe for target 'LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o' failed
make[2]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/src/mapOptmization.cpp.o] Error 1
CMakeFiles/Makefile2:3321: recipe for target 'LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/all' failed
make[1]: *** [LeGO-LOAM/LeGO-LOAM/CMakeFiles/mapOptmization.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j1" failed
what's the problem and how to do?Thx