CMake error when building ~/lib/stella_vslam #172

Ab-Tx · 2023-12-29T14:18:28Z

Ab-Tx
Dec 29, 2023

Hello. I am following the instructions of the documentation for ROS, and I have an error at:

make -j

In this part of the documentation:

rosdep update
sudo apt update
mkdir -p ~/lib
cd ~/lib
git clone --recursive --depth 1 https://github.com/stella-cv/stella_vslam.git
rosdep install -y -i --from-paths ~/lib
cd ~/lib/stella_vslam
mkdir -p ~/lib/stella_vslam/build
cd ~/lib/stella_vslam/build
source /opt/ros/${ROS_DISTRO}/setup.bash
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j
sudo make install

The output of the terminal when I run make -j:

~/lib/stella_vslam/build$ make -j
[  3%] Built target fbow
[  5%] Building CXX object src/stella_vslam/CMakeFiles/stella_vslam.dir/optimize/pose_optimizer_gtsam.cc.o
/home/ab/lib/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<bool>&) const’:
/home/ab/lib/stella_vslam/src/stella_vslam/optimize/pose_optimizer_gtsam.cc:214:44: error: ‘class stella_vslam::optimize::internal_gtsam::PoseOptFactorBase<gtsam::Pose3, gtsam::Point3>’ has no member named ‘cloneWithNewNoiseModel’
  214 |                         graph[i] = factor->cloneWithNewNoiseModel(boost::dynamic_pointer_cast<gtsam::noiseModel::Robust>(factor->noiseModel())->noise());
      |                                            ^~~~~~~~~~~~~~~~~~~~~~
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[1]: *** [CMakeFiles/Makefile2:484: src/stella_vslam/CMakeFiles/stella_vslam.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

The gtsam versions I have installed are:

~/lib/stella_vslam/build$ apt list | grep 'gtsam'

WARNING: apt does not have a stable CLI interface. Use with caution in scripts.

libgtsam-dev/focal,now 4.0.3-1ubuntu1 amd64 [installed]
libgtsam-unstable-dev/focal,now 4.0.3-1ubuntu1 amd64 [installed]
libgtsam-unstable4/focal,now 4.0.3-1ubuntu1 amd64 [installed,automatic]
libgtsam4/focal,now 4.0.3-1ubuntu1 amd64 [installed,automatic]
ros-noetic-gtsam-dbgsym/focal 4.2.0-2focal.20230620.181134 amd64
ros-noetic-gtsam/focal 4.2.0-2focal.20230620.181134 amd64

Should a specific gtsam version be used?