视觉SLAM十四讲 报错 error: ‘index_sequence’ is not a member of ‘std‘

解决SLAM编译错误
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视觉SLAM十四讲 报错 error: ‘index_sequence’ is not a member of 'std'

1. 报错

在编译高博的视觉SLAM第7讲的ch7/pose_estimation_3d2d.cpp时，出现错误：

/usr/local/include/g2o/core/base_fixed_sized_edge.h:192:32: error: ‘index_sequence’ is not a member of ‘std’
   struct HessianTupleType<std::index_sequence<Ints...>> {
   
   
                                ^~~~~~~~~~~~~~
/usr/local/include/g2o/core/base_fixed_sized_edge.h:192:32: error: ‘index_sequence’ is not a member of ‘std’
/usr/local/include/g2o/core/base_fixed_sized_edge.h:192:51: error: expected parameter pack before ‘...’

2. 原因

视觉SLAM书上的程序使用的g2o版本比较旧了，使用的是c++11版本的g20。而自己在编译g2o的时候编译的是最新版本的g2o，里面大量使用了c++14标准库</

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In file included from /usr/include/ceres/internal/parameter_dims.h:37, from /usr/include/ceres/internal/autodiff.h:151, from /usr/include/ceres/autodiff_cost_function.h:130, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’ 64 | struct SumImpl<std::integer_sequence<T, N, Ns...>> { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:64:46: error: wrong number of template arguments (3, should be 1) 64 | struct SumImpl<std::integer_sequence<T, N, Ns...>> { | ^~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:64:49: error: expected unqualified-id before ‘>’ token 64 | struct SumImpl<std::integer_sequence<T, N, Ns...>> { | ^~ /usr/include/ceres/internal/integer_sequence_algorithm.h:71:21: error: ‘integer_sequence’ is not a member of ‘std’ 71 | struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:71:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:71:51: error: wrong number of template arguments (4, should be 1) 71 | struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> { | ^~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:71:54: error: expected unqualified-id before ‘>’ token 71 | struct SumImpl<std::integer_sequence<T, N1, N2, Ns...>> { | ^~ /usr/include/ceres/internal/integer_sequence_algorithm.h:78:21: error: ‘integer_sequence’ is not a member of ‘std’ 78 | struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:78:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:78:59: error: wrong number of template arguments (6, should be 1) 78 | struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> { | ^~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:78:62: error: expected unqualified-id before ‘>’ token 78 | struct SumImpl<std::integer_sequence<T, N1, N2, N3, N4, Ns...>> { | ^~ /usr/include/ceres/internal/integer_sequence_algorithm.h:85:21: error: ‘integer_sequence’ is not a member of ‘std’ 85 | struct SumImpl<std::integer_sequence<T, N>> { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:85:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:85:41: error: wrong number of template arguments (2, should be 1) 85 | struct SumImpl<std::integer_sequence<T, N>> { | ^ /usr/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’ 60 | struct SumImpl; | ^~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:85:42: error: expected unqualified-id before ‘>’ token 85 | struct SumImpl<std::integer_sequence<T, N>> { | ^~ /usr/include/ceres/internal/integer_sequence_algorithm.h:91:21: error: ‘integer_sequence’ is not a member of ‘std’ 91 | struct SumImpl<std::integer_sequence<T>> { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:91:21: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:91:38: error: template argument 1 is invalid 91 | struct SumImpl<std::integer_sequence<T>> { | ^ /usr/include/ceres/internal/integer_sequence_algorithm.h:91:39: error: expected unqualified-id before ‘>’ token 91 | struct SumImpl<std::integer_sequence<T>> { | ^~ /usr/include/ceres/internal/integer_sequence_algorithm.h:135:31: error: ‘integer_sequence’ is not a member of ‘std’ 135 | std::integer_sequence<T, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:135:31: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:135:59: error: template argument 3 is invalid 135 | std::integer_sequence<T, N, Ns...>, | ^ /usr/include/ceres/internal/integer_sequence_algorithm.h:135:59: error: type/value mismatch at argument 4 in template parameter list for ‘template<class T, T Sum, class SeqIn, class SeqOut> struct ceres::internal::ExclusiveScanImpl’ /usr/include/ceres/internal/integer_sequence_algorithm.h:135:59: note: expected a type, got ‘N’ /usr/include/ceres/internal/integer_sequence_algorithm.h:146:39: error: ‘integer_sequence’ is not a member of ‘std’ 146 | struct ExclusiveScanImpl<T, Sum, std::integer_sequence<T>, SeqOut> { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:146:39: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:146:57: error: wrong number of template arguments (3, should be 4) 146 | struct ExclusiveScanImpl<T, Sum, std::integer_sequence<T>, SeqOut> { | ^ /usr/include/ceres/internal/integer_sequence_algorithm.h:130:8: note: provided for ‘template<class T, T Sum, class SeqIn, class SeqOut> struct ceres::internal::ExclusiveScanImpl’ 130 | struct ExclusiveScanImpl; | ^~~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:160:53: error: ‘integer_sequence’ is not a member of ‘std’ 160 | typename ExclusiveScanImpl<T, T(0), Seq, std::integer_sequence<T>>::Type; | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/integer_sequence_algorithm.h:160:53: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/integer_sequence_algorithm.h:160:70: error: template argument 4 is invalid 160 | typename ExclusiveScanImpl<T, T(0), Seq, std::integer_sequence<T>>::Type; | ^ /usr/include/ceres/internal/integer_sequence_algorithm.h:160:16: error: expected nested-name-specifier 160 | typename ExclusiveScanImpl<T, T(0), Seq, std::integer_sequence<T>>::Type; | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/ceres/internal/autodiff.h:151, from /usr/include/ceres/autodiff_cost_function.h:130, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/parameter_dims.h:44:55: error: ‘integer_sequence’ is not a member of ‘std’ 44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:44:72: error: expected primary-expression before ‘int’ 44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) { | ^~~ /usr/include/ceres/internal/parameter_dims.h:50:10: error: ‘template<int N, int ...Ts> constexpr const bool ceres::internal::IsValidParameterDimensionSequence’ redeclared as different kind of entity 50 | std::integer_sequence<int, N, Ts...>) { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:44:16: note: previous declaration ‘constexpr const bool ceres::internal::IsValidParameterDimensionSequence’ 44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) { | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:50:10: error: ‘integer_sequence’ is not a member of ‘std’ 50 | std::integer_sequence<int, N, Ts...>) { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:50:27: error: expected primary-expression before ‘int’ 50 | std::integer_sequence<int, N, Ts...>) { | ^~~ /usr/include/ceres/internal/parameter_dims.h:50:40: error: expected ‘)’ before ‘>’ token 50 | std::integer_sequence<int, N, Ts...>) { | ^ | ) /usr/include/ceres/internal/parameter_dims.h:49:49: note: to match this ‘(’ 49 | constexpr bool IsValidParameterDimensionSequence( | ^ /usr/include/ceres/internal/parameter_dims.h:69:27: error: ‘integer_sequence’ in namespace ‘std’ does not name a template type 69 | using Parameters = std::integer_sequence<int, Ns...>; | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:74:41: error: there are no arguments to ‘Parameters’ that depend on a template parameter, so a declaration of ‘Parameters’ must be available [-fpermissive] 74 | IsValidParameterDimensionSequence(Parameters()); | ^~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:74:41: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’ 85 | Sum<std::integer_sequence<int, Ns...>>::Value; | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/parameter_dims.h:85:43: error: template argument 1 is invalid 85 | Sum<std::integer_sequence<int, Ns...>>::Value; | ^~ /usr/include/ceres/internal/parameter_dims.h:101:20: error: ‘std::integer_sequence’ has not been declared 101 | T* ptr, std::integer_sequence<int, Indices...>) { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h:101:36: error: expected ‘,’ or ‘...’ before ‘<’ token 101 | T* ptr, std::integer_sequence<int, Indices...>) { | ^ /usr/include/ceres/internal/parameter_dims.h: In static member function ‘static std::array<T*, ceres::internal::ParameterDims<IsDynamic, Ns>::kNumParameterBlocks> ceres::internal::ParameterDims<IsDynamic, Ns>::GetUnpackedParameters(T*)’: /usr/include/ceres/internal/parameter_dims.h:94:35: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 94 | using Offsets = ExclusiveScan<Parameters>; | ^~~~~~~~~~ | ParameterDims /usr/include/ceres/internal/parameter_dims.h:94:45: error: template argument 1 is invalid 94 | using Offsets = ExclusiveScan<Parameters>; | ^ /usr/include/ceres/internal/parameter_dims.h:95:39: error: there are no arguments to ‘Offsets’ that depend on a template parameter, so a declaration of ‘Offsets’ must be available [-fpermissive] 95 | return GetUnpackedParameters(ptr, Offsets()); | ^~~~~~~ In file included from /usr/include/ceres/internal/autodiff.h:152, from /usr/include/ceres/autodiff_cost_function.h:130, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/variadic_evaluate.h: At global scope: /usr/include/ceres/internal/variadic_evaluate.h:53:39: error: ‘std::integer_sequence’ has not been declared 53 | std::integer_sequence<int, Indices...>) { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/variadic_evaluate.h:53:55: error: expected ‘,’ or ‘...’ before ‘<’ token 53 | std::integer_sequence<int, Indices...>) { | ^ /usr/include/ceres/internal/variadic_evaluate.h:66:39: error: ‘std::integer_sequence’ has not been declared 66 | std::integer_sequence<int>) { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/variadic_evaluate.h:66:55: error: expected ‘,’ or ‘...’ before ‘<’ token 66 | std::integer_sequence<int>) { | ^ /usr/include/ceres/internal/variadic_evaluate.h: In function ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*)’: /usr/include/ceres/internal/variadic_evaluate.h:77:12: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type 77 | std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>; | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/ceres/internal/variadic_evaluate.h:80:44: error: there are no arguments to ‘ParameterBlockIndices’ that depend on a template parameter, so a declaration of ‘ParameterBlockIndices’ must be available [-fpermissive] 80 | functor, input, output, IsDynamic(), ParameterBlockIndices()); | ^~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/ceres/autodiff_cost_function.h:130, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/autodiff.h: At global scope: /usr/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’ 217 | struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/autodiff.h:217:69: error: template argument 1 is invalid 217 | struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>, | ^ /usr/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’ 232 | struct Make1stOrderPerturbations<std::integer_sequence<int>, | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/autodiff.h:232:59: error: template argument 1 is invalid 232 | struct Make1stOrderPerturbations<std::integer_sequence<int>, | ^ /usr/include/ceres/internal/autodiff.h:282:31: error: ‘integer_sequence’ is not a member of ‘std’ 282 | struct Take1stOrderParts<std::integer_sequence<int, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/autodiff.h:282:31: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/autodiff.h:282:61: error: template argument 1 is invalid 282 | struct Take1stOrderParts<std::integer_sequence<int, N, Ns...>, | ^ /usr/include/ceres/internal/autodiff.h:298:31: error: ‘integer_sequence’ is not a member of ‘std’ 298 | struct Take1stOrderParts<std::integer_sequence<int>, ParameterIdx, Offset> { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/autodiff.h:298:31: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/autodiff.h:298:51: error: template argument 1 is invalid 298 | struct Take1stOrderParts<std::integer_sequence<int>, ParameterIdx, Offset> { | ^ In file included from /usr/include/ceres/ceres.h:42, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/cost_function_to_functor.h:160:29: error: ‘std::integer_sequence’ has not been declared 160 | std::integer_sequence<int, Indices...>) { | ^~~~~~~~~~~~~~~~ /usr/include/ceres/cost_function_to_functor.h:160:45: error: expected ‘,’ or ‘...’ before ‘<’ token 160 | std::integer_sequence<int, Indices...>) { | ^ /usr/include/ceres/cost_function_to_functor.h: In member function ‘bool ceres::CostFunctionToFunctor<kNumResiduals, Ns>::operator()(const T*, Ts* ...) const’: /usr/include/ceres/cost_function_to_functor.h:147:14: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type 147 | std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>; | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/ceres/cost_function_to_functor.h:149:41: error: there are no arguments to ‘Indices’ that depend on a template parameter, so a declaration of ‘Indices’ must be available [-fpermissive] 149 | GetParameterPointers<T>(params, Indices()); | ^~~~~~~ In file included from /usr/include/ceres/dynamic_numeric_diff_cost_function.h:44, from /usr/include/ceres/ceres.h:48, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/numeric_diff.h: At global scope: /usr/include/ceres/internal/numeric_diff.h:445:48: error: ‘integer_sequence’ is not a member of ‘std’ 445 | std::integer_sequence<int, N, Ns...>, | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/numeric_diff.h:445:48: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/numeric_diff.h:445:78: error: template argument 2 is invalid 445 | std::integer_sequence<int, N, Ns...>, | ^ /usr/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’ 490 | std::integer_sequence<int>, | ^~~~~~~~~~~~~~~~ /usr/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’ /usr/include/ceres/internal/numeric_diff.h:490:68: error: template argument 2 is invalid 490 | std::integer_sequence<int>, | ^ In file included from /usr/include/ceres/internal/autodiff.h:151, from /usr/include/ceres/autodiff_cost_function.h:130, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 3>::kIsValid’: /usr/include/ceres/internal/parameter_dims.h:75:17: required from ‘class ceres::internal::ParameterDims<false, 3>’ /usr/include/ceres/sized_cost_function.h:53:55: required from ‘class ceres::SizedCostFunction<1, 3>’ /usr/include/ceres/autodiff_cost_function.h:154:7: required from ‘class ceres::AutoDiffCostFunction<CURVE_FITTING_COST, 1, 3>’ /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:53:13: required from here /usr/include/ceres/internal/parameter_dims.h:74:51: error: ‘Parameters’ was not declared in this scope; did you mean ‘ParameterDims’? 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~^~ | ParameterDims /usr/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function 74 | IsValidParameterDimensionSequence(Parameters()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ /usr/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 3>’: /usr/include/ceres/sized_cost_function.h:53:55: required from ‘class ceres::SizedCostFunction<1, 3>’ /usr/include/ceres/autodiff_cost_function.h:154:7: required from ‘class ceres::AutoDiffCostFunction<CURVE_FITTING_COST, 1, 3>’ /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:53:13: required from here /usr/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion 75 | static_assert(kIsValid, | ^~~~~~~~ In file included from /usr/include/ceres/autodiff_cost_function.h:131, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 3>’: /usr/include/ceres/autodiff_cost_function.h:154:7: required from ‘class ceres::AutoDiffCostFunction<CURVE_FITTING_COST, 1, 3>’ /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:53:13: required from here /usr/include/ceres/sized_cost_function.h:53:55: error: non-constant condition for static assertion 53 | static_assert(internal::StaticParameterDims<Ns...>::kIsValid, | ^~~~~~~~ In file included from /usr/include/ceres/autodiff_cost_function.h:130, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 1; ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = CURVE_FITTING_COST; T = double]’: /usr/include/ceres/autodiff_cost_function.h:210:69: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = CURVE_FITTING_COST; int kNumResiduals = 1; int ...Ns = {3}]’ /usr/include/ceres/autodiff_cost_function.h:200:8: required from here /usr/include/ceres/internal/autodiff.h:315:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’ 315 | using Parameters = typename ParameterDims::Parameters; | ^~~~~~~~~~ /usr/include/ceres/internal/autodiff.h:348:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’ 348 | Make1stOrderPerturbations<Parameters>::Apply(parameters, | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~ 349 | parameters_as_jets.data()); | ~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/ceres/internal/autodiff.h:357:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 3>’ 357 | Take1stOrderParts<Parameters>::Apply( | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^ 358 | num_outputs, residuals_as_jets.data(), jacobians); | ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/ceres/internal/autodiff.h:152, from /usr/include/ceres/autodiff_cost_function.h:130, from /usr/include/ceres/ceres.h:37, from /home/lemon/slambook/slambook-master/ch6/ceres_curve_fitting/main.cpp:3: /usr/include/ceres/internal/variadic_evaluate.h: In instantiation of ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*) [with ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = CURVE_FITTING_COST; T = double]’: /usr/include/ceres/internal/variadic_evaluate.h:108:45: required from ‘bool ceres::internal::VariadicEvaluate(const Functor&, const T* const*, T*) [with ParameterDims = ceres::internal::ParameterDims<false, 3>; Functor = CURVE_FITTING_COST; T = double]’ /usr/include/ceres/autodiff_cost_function.h:207:55: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, Ns>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = CURVE_FITTING_COST; int kNumResiduals = 1; int ...Ns = {3}]’ /usr/include/ceres/autodiff_cost_function.h:200:8: required from here /usr/include/ceres/internal/variadic_evaluate.h:80:65: error: ‘ParameterBlockIndices’ was not declared in this scope 80 | functor, input, output, IsDynamic(), ParameterBlockIndices()); | ~~~~~~~~~~~~~~~~~~~~~^~ make[2]: *** [CMakeFiles/curve_fitting.dir/build.make:76: CMakeFiles/curve_fitting.dir/main.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/curve_fitting.dir/all] Error 2 make: *** [Makefile:91: all] Error 2
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