smile@smile-X3-S:~/app_install/mapx/build$ sudo make

企业开发 2023-06-19 04:33:10 阅读次数: 0 
smile@smile-X3-S:~/app_install/mapx/build$ sudo make
[sudo] password for smile: 
Scanning dependencies of target fbow
[  0%] Building CXX object 3rd/FBoW/CMakeFiles/fbow.dir/src/fbow.cpp.o
[  1%] Building CXX object 3rd/FBoW/CMakeFiles/fbow.dir/src/vocabulary_creator.cpp.o
[  2%] Linking CXX shared library libfbow.so
[  2%] Built target fbow
Scanning dependencies of target mapx
[  3%] Building CXX object src/mapx/CMakeFiles/mapx.dir/system.cc.o
[  4%] Building CXX object src/mapx/CMakeFiles/mapx.dir/utils/frame_publisher.cc.o
[  5%] Building CXX object src/mapx/CMakeFiles/mapx.dir/utils/map_publisher.cc.o
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[  7%] Building CXX object src/mapx/CMakeFiles/mapx.dir/utils/image_converter.cc.o
[  7%] Building CXX object src/mapx/CMakeFiles/mapx.dir/utils/stereo_rectifier.cc.o
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[  9%] Building CXX object src/mapx/CMakeFiles/mapx.dir/utils/angle.cc.o
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[ 13%] Building CXX object src/mapx/CMakeFiles/mapx.dir/tracking/relocalizer.cc.o
[ 14%] Building CXX object src/mapx/CMakeFiles/mapx.dir/tracking/keyframe_inserter.cc.o
[ 15%] Building CXX object src/mapx/CMakeFiles/mapx.dir/tracking/frame_tracker.cc.o
[ 16%] Building CXX object src/mapx/CMakeFiles/mapx.dir/tracking/tracking_module.cc.o
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[ 22%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/frame_statistics.cc.o
[ 23%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/orb_params_database.cc.o
[ 24%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/marker.cc.o
[ 24%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/marker2d.cc.o
[ 25%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/graph_node.cc.o
[ 26%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/map_database.cc.o
[ 27%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/landmark.cc.o
[ 28%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/common.cc.o
[ 29%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/frame.cc.o
[ 30%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/keyframe.cc.o
[ 31%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/bow_vocabulary.cc.o
[ 32%] Building CXX object src/mapx/CMakeFiles/mapx.dir/schema/bow_database.cc.o
[ 32%] Building CXX object src/mapx/CMakeFiles/mapx.dir/solvers/common.cc.o
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[ 34%] Building CXX object src/mapx/CMakeFiles/mapx.dir/solvers/fundamental_solver.cc.o
[ 35%] Building CXX object src/mapx/CMakeFiles/mapx.dir/solvers/essential_solver.cc.o
[ 36%] Building CXX object src/mapx/CMakeFiles/mapx.dir/solvers/pnp_solver.cc.o
[ 37%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/camera_database.cc.o
[ 38%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/base.cc.o
[ 39%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/perspective.cc.o
[ 40%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/fisheye.cc.o
[ 41%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/equirectangular.cc.o
[ 41%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/camera/radial_division.cc.o
[ 42%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/bias.cc.o
[ 43%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/config.cc.o
[ 44%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/data.cc.o
[ 45%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/preintegrator.cc.o
[ 46%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/preintegrated.cc.o
[ 47%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_database.cc.o
[ 48%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_util.cc.o
[ 49%] Building CXX object src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_initializer.cc.o
In file included from /home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h:7:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:8:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:28:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
   void oplusImpl(const number_t* update_) override;
                        ^~~~~~~~
                        timer_t
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:28:8: error: ‘void mapx::optimization::internal::se3::ShotVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
   void oplusImpl(const number_t* update_) override;
        ^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:54:41: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
 inline void ShotVertex::oplusImpl(const number_t* update_) {
    
    
                                         ^~~~~~~~
                                         timer_t
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h: In member function ‘void mapx::optimization::internal::se3::ShotVertex::oplusImpl(const int*)’:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:55:42: error: no matching function for call to ‘Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0> >::Map(const int*&)’
   Eigen::Map<const Vec6_t> update(update_);
                                          ^
In file included from /usr/include/eigen3/Eigen/Core:450:0,
                 from /usr/local/include/g2o/core/base_edge.h:30,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, Eigen::Index, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 6, 1, 0, 6, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
     inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
            ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note:   candidate expects 4 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 6, 1, 0, 6, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
     inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
            ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note:   candidate expects 3 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 6, 1, 0, 6, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*]
     explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
                     ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note:   no known conversion for argument 1 from ‘const int*’ to ‘Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0> >::PointerArgType {
    
    aka const double*}’
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: candidate: Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0> >::Map(const Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0> >&)
 template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
                                                                               ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note:   no known conversion for argument 1 from ‘const int*’ to ‘const Eigen::Map<const Eigen::Matrix<double, 6, 1, 0, 6, 1>, 0, Eigen::Stride<0, 0> >&’
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:8:0:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h: In member function ‘mapx::optimization::internal::se3::ShotVertex* mapx::optimization::internal::se3::ShotVertexContainer::CreateVertex(unsigned int, const Mat44_t&, bool)’:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h:122:29: error: invalid new-expression of abstract class type ‘mapx::optimization::internal::se3::ShotVertex’
   auto vtx = new ShotVertex();
                             ^
In file included from /home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex_container.h:7:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:8:
/home/smile/app_install/mapx/src/mapx/optimization/internal/se3/shot_vertex.h:15:7: note:   because the following virtual functions are pure within ‘mapx::optimization::internal::se3::ShotVertex’:
 class ShotVertex final : public g2o::BaseVertex<6, g2o::SE3Quat> {
    
    
       ^~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: 	virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
     virtual void oplusImpl(const double* v) = 0;
                  ^~~~~~~~~
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h:9:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:11:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h: At global scope:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:27:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
   void oplusImpl(const number_t* update_) override;
                        ^~~~~~~~
                        timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:27:8: error: ‘void mapx::sensor::imu::internal::BiasVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
   void oplusImpl(const number_t* update_) override;
        ^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:46:41: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
 inline void BiasVertex::oplusImpl(const number_t* update_) {
    
    
                                         ^~~~~~~~
                                         timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h: In member function ‘void mapx::sensor::imu::internal::BiasVertex::oplusImpl(const int*)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:47:42: error: no matching function for call to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >::Map(const int*&)’
   Eigen::Map<const Vec3_t> update(update_);
                                          ^
In file included from /usr/include/eigen3/Eigen/Core:450:0,
                 from /usr/local/include/g2o/core/base_edge.h:30,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, Eigen::Index, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
     inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
            ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note:   candidate expects 4 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
     inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
            ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note:   candidate expects 3 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*]
     explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
                     ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note:   no known conversion for argument 1 from ‘const int*’ to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >::PointerArgType {
    
    aka const double*}’
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: candidate: Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >::Map(const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >&)
 template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
                                                                               ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note:   no known conversion for argument 1 from ‘const int*’ to ‘const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >&’
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:11:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h: In member function ‘mapx::sensor::imu::internal::BiasVertex* mapx::sensor::imu::internal::BiasVertexContainer::CreateVertex(unsigned int, const Vec3_t&, bool)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h:99:29: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::BiasVertex’
   auto vtx = new BiasVertex();
                             ^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex_container.h:9:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:11:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/bias_vertex.h:14:7: note:   because the following virtual functions are pure within ‘mapx::sensor::imu::internal::BiasVertex’:
 class BiasVertex final : public g2o::BaseVertex<3, Vec3_t> {
    
    
       ^~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: 	virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
     virtual void oplusImpl(const double* v) = 0;
                  ^~~~~~~~~
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:12:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h: At global scope:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:28:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
   void oplusImpl(const number_t* update_) override;
                        ^~~~~~~~
                        timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:28:8: error: ‘void mapx::sensor::imu::internal::GravityDirVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
   void oplusImpl(const number_t* update_) override;
        ^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:49:47: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
 inline void GravityDirVertex::oplusImpl(const number_t* update_) {
    
    
                                               ^~~~~~~~
                                               timer_t
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:13:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:28:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
   void oplusImpl(const number_t* update_) override;
                        ^~~~~~~~
                        timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:28:8: error: ‘void mapx::sensor::imu::internal::ScaleVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
   void oplusImpl(const number_t* update_) override;
        ^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:47:42: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
 inline void ScaleVertex::oplusImpl(const number_t* update_) {
    
    
                                          ^~~~~~~~
                                          timer_t
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:14:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:27:24: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
   void oplusImpl(const number_t* update_) override;
                        ^~~~~~~~
                        timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:27:8: error: ‘void mapx::sensor::imu::internal::VelocityVertex::oplusImpl(const int*)’ marked ‘override’, but does not override
   void oplusImpl(const number_t* update_) override;
        ^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:49:45: error: ‘number_t’ does not name a type; did you mean ‘timer_t’?
 inline void VelocityVertex::oplusImpl(const number_t* update_) {
    
    
                                             ^~~~~~~~
                                             timer_t
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h: In member function ‘void mapx::sensor::imu::internal::VelocityVertex::oplusImpl(const int*)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:50:42: error: no matching function for call to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >::Map(const int*&)’
   Eigen::Map<const Vec3_t> update(update_);
                                          ^
In file included from /usr/include/eigen3/Eigen/Core:450:0,
                 from /usr/local/include/g2o/core/base_edge.h:30,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, Eigen::Index, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
     inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
            ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:149:12: note:   candidate expects 4 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, Eigen::Index, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*; Eigen::Index = long int]
     inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
            ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:135:12: note:   candidate expects 3 arguments, 1 provided
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note: candidate: Eigen::Map<MatrixType, MapOptions, StrideType>::Map(Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType, const StrideType&) [with PlainObjectType = const Eigen::Matrix<double, 3, 1>; int MapOptions = 0; StrideType = Eigen::Stride<0, 0>; Eigen::Map<MatrixType, MapOptions, StrideType>::PointerArgType = const double*]
     explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
                     ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:122:21: note:   no known conversion for argument 1 from ‘const int*’ to ‘Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >::PointerArgType {
    
    aka const double*}’
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note: candidate: Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >::Map(const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >&)
 template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
                                                                               ^~~
/usr/include/eigen3/Eigen/src/Core/Map.h:88:79: note:   no known conversion for argument 1 from ‘const int*’ to ‘const Eigen::Map<const Eigen::Matrix<double, 3, 1>, 0, Eigen::Stride<0, 0> >&’
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:16:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex_container.h: In member function ‘mapx::sensor::imu::internal::VelocityVertex* mapx::sensor::imu::internal::VelocityVertexContainer::CreateVertex(unsigned int, const Vec3_t&, bool)’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex_container.h:125:33: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::VelocityVertex’
   auto vtx = new VelocityVertex();
                                 ^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:14:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/velocity_vertex.h:14:7: note:   because the following virtual functions are pure within ‘mapx::sensor::imu::internal::VelocityVertex’:
 class VelocityVertex final : public g2o::BaseVertex<3, Vec3_t> {
    
    
       ^~~~~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: 	virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
     virtual void oplusImpl(const double* v) = 0;
                  ^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc: In member function ‘bool mapx::optimization::ImuInitializer::Initialize(const std::vector<std::shared_ptr<mapx::schema::Keyframe> >&, mapx::Mat33_t&, double&, bool, float, float) const’:
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:31:29: error: ‘make_unique’ is not a member of ‘g2o’
   auto linear_solver = g2o::make_unique<
                             ^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:31:29: note: suggested alternatives:
In file included from /usr/include/c++/7/memory:80:0,
                 from /usr/local/include/g2o/autodiff/fixed_array.h:37,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:36,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/c++/7/bits/unique_ptr.h:832:5: note:   ‘std::make_unique’
     make_unique(_Args&&...) = delete;
     ^~~~~~~~~~~
/usr/include/c++/7/bits/unique_ptr.h:820:5: note:   ‘std::make_unique’
     make_unique(_Args&&... __args)
     ^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:32:63: error: expected primary-expression before ‘>’ token
       g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
                                                               ^~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:32:66: error: expected primary-expression before ‘)’ token
       g2o::LinearSolverEigen<g2o::BlockSolverX::PoseMatrixType>>();
                                                                  ^
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:34:12: error: ‘make_unique’ is not a member of ‘g2o’
       g2o::make_unique<g2o::BlockSolverX>(std::move(linear_solver));
            ^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:34:12: note: suggested alternatives:
In file included from /usr/include/c++/7/memory:80:0,
                 from /usr/local/include/g2o/autodiff/fixed_array.h:37,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:36,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/include/c++/7/bits/unique_ptr.h:832:5: note:   ‘std::make_unique’
     make_unique(_Args&&...) = delete;
     ^~~~~~~~~~~
/usr/include/c++/7/bits/unique_ptr.h:820:5: note:   ‘std::make_unique’
     make_unique(_Args&&... __args)
     ^~~~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:34:41: error: expected primary-expression before ‘>’ token
       g2o::make_unique<g2o::BlockSolverX>(std::move(linear_solver));
                                         ^
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:87:70: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::GravityDirVertex’
   auto gravity_dir_vtx = new sensor::imu::internal::GravityDirVertex();
                                                                      ^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:12:0:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/gravity_dir_vertex.h:15:7: note:   because the following virtual functions are pure within ‘mapx::sensor::imu::internal::GravityDirVertex’:
 class GravityDirVertex final : public g2o::BaseVertex<2, Mat33_t> {
    
    
       ^~~~~~~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: 	virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
     virtual void oplusImpl(const double* v) = 0;
                  ^~~~~~~~~
/home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:93:59: error: invalid new-expression of abstract class type ‘mapx::sensor::imu::internal::ScaleVertex’
   auto scale_vtx = new sensor::imu::internal::ScaleVertex();
                                                           ^
In file included from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu.h:13:0,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/internal/inertial_gravity_scale_edge_on_imu_wrapper.h:7,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:13:
/home/smile/app_install/mapx/src/mapx/sensor/imu/internal/scale_vertex.h:15:7: note:   because the following virtual functions are pure within ‘mapx::sensor::imu::internal::ScaleVertex’:
 class ScaleVertex final : public g2o::BaseVertex<1, double> {
    
    
       ^~~~~~~~~~~
In file included from /usr/local/include/g2o/core/base_edge.h:35:0,
                 from /usr/local/include/g2o/core/base_fixed_sized_edge.h:35,
                 from /usr/local/include/g2o/core/base_binary_edge.h:30,
                 from /usr/local/include/g2o/types/sim3/types_seven_dof_expmap.h:30,
                 from /home/smile/app_install/mapx/src/mapx/schema/type.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.h:4,
                 from /home/smile/app_install/mapx/src/mapx/sensor/imu/imu_initializer.cc:1:
/usr/local/include/g2o/core/optimizable_graph.h:398:18: note: 	virtual void g2o::OptimizableGraph::Vertex::oplusImpl(const double*)
     virtual void oplusImpl(const double* v) = 0;
                  ^~~~~~~~~
src/mapx/CMakeFiles/mapx.dir/build.make:1286: recipe for target 'src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_initializer.cc.o' failed
make[2]: *** [src/mapx/CMakeFiles/mapx.dir/sensor/imu/imu_initializer.cc.o] Error 1
CMakeFiles/Makefile2:144: recipe for target 'src/mapx/CMakeFiles/mapx.dir/all' failed
make[1]: *** [src/mapx/CMakeFiles/mapx.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

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