Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Compilation issues due to Ceres version 2.0.0 #11

Open
GSORF opened this issue Aug 4, 2021 · 3 comments
Open

Compilation issues due to Ceres version 2.0.0 #11

GSORF opened this issue Aug 4, 2021 · 3 comments
Labels
enhancement New feature or request

Comments

@GSORF
Copy link

GSORF commented Aug 4, 2021

Hello everyone,

I am getting compiler errors when Ceres functions are getting called. I suppose this is due to a version conflict. The README states that version 1.12.0 is used. However, the official instructions on http://ceres-solver.org/installation.html will install version 2.0.0. Is this the cause of my issue? In that case I would like to contribute by updating the README with clear instructions on how to install this specific version of Ceres.

Here is my terminal output which documents the compilation error:

[...]
Scanning dependencies of target gvins
[ 44%] Building CXX object GVINS/estimator/CMakeFiles/gvins.dir/src/estimator_node.cpp.o
In file included from /usr/local/include/ceres/internal/parameter_dims.h:37,
                 from /usr/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:71:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:78:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:85:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:42: error: expected unqualified-id before ‘>’ token
   85 | struct SumImpl<std::integer_sequence<T, N>> {
      |                                          ^~
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:91:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:38: error: template argument 1 is invalid
   91 | struct SumImpl<std::integer_sequence<T>> {
      |                                      ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:39: error: expected unqualified-id before ‘>’ token
   91 | struct SumImpl<std::integer_sequence<T>> {
      |                                       ^~
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:135:31: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: error: template argument 3 is invalid
  135 |                          std::integer_sequence<T, N, Ns...>,
      |                                                           ^
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: note:   expected a type, got ‘N’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:146:39: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:160:53: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/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/local/include/ceres/internal/parameter_dims.h:44:72: error: expected primary-expression before ‘int’
   44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) {
      |                                                                        ^~~
/usr/local/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/local/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/local/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/local/include/ceres/internal/parameter_dims.h:50:27: error: expected primary-expression before ‘int’
   50 |     std::integer_sequence<int, N, Ts...>) {
      |                           ^~~
/usr/local/include/ceres/internal/parameter_dims.h:50:40: error: expected ‘)’ before ‘>’ token
   50 |     std::integer_sequence<int, N, Ts...>) {
      |                                        ^
      |                                        )
/usr/local/include/ceres/internal/parameter_dims.h:49:49: note: to match this ‘(’
   49 | constexpr bool IsValidParameterDimensionSequence(
      |                                                 ^
/usr/local/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/local/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/local/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/local/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/local/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/parameter_dims.h:85:43: error: template argument 1 is invalid
   85 |       Sum<std::integer_sequence<int, Ns...>>::Value;
      |                                           ^~
/usr/local/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/local/include/ceres/internal/parameter_dims.h:101:36: error: expected ‘,’ or ‘...’ before ‘<’ token
  101 |       T* ptr, std::integer_sequence<int, Indices...>) {
      |                                    ^
/usr/local/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/local/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/local/include/ceres/internal/parameter_dims.h:94:45: error: template argument 1 is invalid
   94 |     using Offsets = ExclusiveScan<Parameters>;
      |                                             ^
/usr/local/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/local/include/ceres/internal/autodiff.h:152,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/variadic_evaluate.h: At global scope:
/usr/local/include/ceres/internal/variadic_evaluate.h:53:39: error: ‘std::integer_sequence’ has not been declared
   53 |                                  std::integer_sequence<int, Indices...>) {
      |                                       ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/variadic_evaluate.h:53:55: error: expected ‘,’ or ‘...’ before ‘<’ token
   53 |                                  std::integer_sequence<int, Indices...>) {
      |                                                       ^
/usr/local/include/ceres/internal/variadic_evaluate.h:66:39: error: ‘std::integer_sequence’ has not been declared
   66 |                                  std::integer_sequence<int>) {
      |                                       ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/variadic_evaluate.h:66:55: error: expected ‘,’ or ‘...’ before ‘<’ token
   66 |                                  std::integer_sequence<int>) {
      |                                                       ^
/usr/local/include/ceres/internal/variadic_evaluate.h: In function ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*)’:
/usr/local/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/local/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/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/autodiff.h: At global scope:
/usr/local/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/local/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/autodiff.h:217:69: error: template argument 1 is invalid
  217 | struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>,
      |                                                                     ^
/usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’
  232 | struct Make1stOrderPerturbations<std::integer_sequence<int>,
      |                                       ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/autodiff.h:232:59: error: template argument 1 is invalid
  232 | struct Make1stOrderPerturbations<std::integer_sequence<int>,
      |                                                           ^
/usr/local/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/local/include/ceres/internal/autodiff.h:282:31: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/autodiff.h:282:61: error: template argument 1 is invalid
  282 | struct Take1stOrderParts<std::integer_sequence<int, N, Ns...>,
      |                                                             ^
/usr/local/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/local/include/ceres/internal/autodiff.h:298:31: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/ceres.h:42,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/cost_function_to_functor.h:161:29: error: ‘std::integer_sequence’ has not been declared
  161 |                        std::integer_sequence<int, Indices...>) {
      |                             ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/cost_function_to_functor.h:161:45: error: expected ‘,’ or ‘...’ before ‘<’ token
  161 |                        std::integer_sequence<int, Indices...>) {
      |                                             ^
/usr/local/include/ceres/cost_function_to_functor.h: In member function ‘bool ceres::CostFunctionToFunctor<kNumResiduals, Ns>::operator()(const T*, Ts* ...) const’:
/usr/local/include/ceres/cost_function_to_functor.h:148:14: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type
  148 |         std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>;
      |              ^~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/cost_function_to_functor.h:150:41: error: there are no arguments to ‘Indices’ that depend on a template parameter, so a declaration of ‘Indices’ must be available [-fpermissive]
  150 |         GetParameterPointers<T>(params, Indices());
      |                                         ^~~~~~~
In file included from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:44,
                 from /usr/local/include/ceres/ceres.h:48,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/numeric_diff.h: At global scope:
/usr/local/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/local/include/ceres/internal/numeric_diff.h:445:48: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/numeric_diff.h:445:78: error: template argument 2 is invalid
  445 |                           std::integer_sequence<int, N, Ns...>,
      |                                                              ^

/usr/local/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’
  490 |                                           std::integer_sequence<int>,
      |                                                ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/numeric_diff.h:490:68: error: template argument 2 is invalid
  490 |                                           std::integer_sequence<int>,
      |                                                                    ^
In file included from /usr/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 4, 3, 3>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 4, 3, 3>’
/usr/local/include/ceres/autodiff_cost_function.h:154:7:   required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 4, 3, 3>’
/usr/local/include/ceres/autodiff_cost_function.h:154:7:   required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 4, 3, 3>’:
/usr/local/include/ceres/autodiff_cost_function.h:154:7:   required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 9, 7, 9>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 7, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1, 1, 1, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 1, 1, 1, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1, 1, 1, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 1, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 9, 9>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 7, 9, 9>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 9, 9>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<6, 7>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<6, 7>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<6, 7>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 2; ParameterDims = ceres::internal::ParameterDims<false, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’:
/usr/local/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 = ReprojectionError3D; int kNumResiduals = 2; int ...Ns = {4, 3, 3}]’
/usr/local/include/ceres/autodiff_cost_function.h:200:8:   required from here
/usr/local/include/ceres/internal/autodiff.h:315:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
  315 |   using Parameters = typename ParameterDims::Parameters;
      |         ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:348:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
  348 |   Make1stOrderPerturbations<Parameters>::Apply(parameters,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
  349 |                                                parameters_as_jets.data());
      |                                                ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:357:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
  357 |   Take1stOrderParts<Parameters>::Apply(
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  358 |       num_outputs, residuals_as_jets.data(), jacobians);
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/ceres/internal/autodiff.h:152,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/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, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’:
/usr/local/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, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’
/usr/local/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 = ReprojectionError3D; int kNumResiduals = 2; int ...Ns = {4, 3, 3}]’
/usr/local/include/ceres/autodiff_cost_function.h:200:8:   required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:80:65: error: ‘ParameterBlockIndices’ was not declared in this scope
   80 |       functor, input, output, IsDynamic(), ParameterBlockIndices());
      |                                            ~~~~~~~~~~~~~~~~~~~~~^~
make[2]: *** [GVINS/estimator/CMakeFiles/gvins.dir/build.make:63: GVINS/estimator/CMakeFiles/gvins.dir/src/estimator_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:3720: GVINS/estimator/CMakeFiles/gvins.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j1 -l1" failed

Thank you for your time
@GSORF
Copy link
Author

GSORF commented Aug 4, 2021 •
edited
Loading

Ok, I have tested it with Ceres version 1.12.0 and it compiles.

I have proposed a minor modification of the README to make this more explicit to the users, see #12 .

Now I have to cope with OpenCV issues, which is probably related to a version difference again. But I think this will be another easy fix.

//EDIT: I have added OpenCV4 support in this PR #13.

Kind regards.

@shaozu
Copy link
Member

shaozu commented Sep 11, 2021

Hi, @GSORF. Thanks for your efforts on this issue. I will leave this issue open in case someone has the same problem.

I just want to add that another solution to this problem is to build and test the whole project using docker, as shown here. By so the GVINS environment is totally isolated from your local one and everything should go smoothly.

@shaozu shaozu added the enhancement New feature or request label Sep 11, 2021
@Kranthi18reddy
Copy link

Hello everyone,

I am getting compiler errors when Ceres functions are getting called. I suppose this is due to a version conflict. The README states that version 1.12.0 is used. However, the official instructions on http://ceres-solver.org/installation.html will install version 2.0.0. Is this the cause of my issue? In that case I would like to contribute by updating the README with clear instructions on how to install this specific version of Ceres.

Here is my terminal output which documents the compilation error:

[...]
Scanning dependencies of target gvins
[ 44%] Building CXX object GVINS/estimator/CMakeFiles/gvins.dir/src/estimator_node.cpp.o
In file included from /usr/local/include/ceres/internal/parameter_dims.h:37,
                 from /usr/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:64:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:71:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:78:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:85:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:60:8: note: provided for ‘template<class Seq> struct ceres::internal::SumImpl’
   60 | struct SumImpl;
      |        ^~~~~~~
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:85:42: error: expected unqualified-id before ‘>’ token
   85 | struct SumImpl<std::integer_sequence<T, N>> {
      |                                          ^~
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:91:21: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:38: error: template argument 1 is invalid
   91 | struct SumImpl<std::integer_sequence<T>> {
      |                                      ^
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:91:39: error: expected unqualified-id before ‘>’ token
   91 | struct SumImpl<std::integer_sequence<T>> {
      |                                       ^~
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:135:31: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: error: template argument 3 is invalid
  135 |                          std::integer_sequence<T, N, Ns...>,
      |                                                           ^
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:135:59: note:   expected a type, got ‘N’
/usr/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:146:39: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/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/local/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/local/include/ceres/internal/integer_sequence_algorithm.h:160:53: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/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/local/include/ceres/internal/parameter_dims.h:44:72: error: expected primary-expression before ‘int’
   44 | constexpr bool IsValidParameterDimensionSequence(std::integer_sequence<int>) {
      |                                                                        ^~~
/usr/local/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/local/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/local/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/local/include/ceres/internal/parameter_dims.h:50:27: error: expected primary-expression before ‘int’
   50 |     std::integer_sequence<int, N, Ts...>) {
      |                           ^~~
/usr/local/include/ceres/internal/parameter_dims.h:50:40: error: expected ‘)’ before ‘>’ token
   50 |     std::integer_sequence<int, N, Ts...>) {
      |                                        ^
      |                                        )
/usr/local/include/ceres/internal/parameter_dims.h:49:49: note: to match this ‘(’
   49 | constexpr bool IsValidParameterDimensionSequence(
      |                                                 ^
/usr/local/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/local/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/local/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/local/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/local/include/ceres/internal/parameter_dims.h:85:16: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/parameter_dims.h:85:43: error: template argument 1 is invalid
   85 |       Sum<std::integer_sequence<int, Ns...>>::Value;
      |                                           ^~
/usr/local/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/local/include/ceres/internal/parameter_dims.h:101:36: error: expected ‘,’ or ‘...’ before ‘<’ token
  101 |       T* ptr, std::integer_sequence<int, Indices...>) {
      |                                    ^
/usr/local/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/local/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/local/include/ceres/internal/parameter_dims.h:94:45: error: template argument 1 is invalid
   94 |     using Offsets = ExclusiveScan<Parameters>;
      |                                             ^
/usr/local/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/local/include/ceres/internal/autodiff.h:152,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/variadic_evaluate.h: At global scope:
/usr/local/include/ceres/internal/variadic_evaluate.h:53:39: error: ‘std::integer_sequence’ has not been declared
   53 |                                  std::integer_sequence<int, Indices...>) {
      |                                       ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/variadic_evaluate.h:53:55: error: expected ‘,’ or ‘...’ before ‘<’ token
   53 |                                  std::integer_sequence<int, Indices...>) {
      |                                                       ^
/usr/local/include/ceres/internal/variadic_evaluate.h:66:39: error: ‘std::integer_sequence’ has not been declared
   66 |                                  std::integer_sequence<int>) {
      |                                       ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/variadic_evaluate.h:66:55: error: expected ‘,’ or ‘...’ before ‘<’ token
   66 |                                  std::integer_sequence<int>) {
      |                                                       ^
/usr/local/include/ceres/internal/variadic_evaluate.h: In function ‘bool ceres::internal::VariadicEvaluateImpl(const Functor&, const T* const*, T*, const void*)’:
/usr/local/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/local/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/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/autodiff.h: At global scope:
/usr/local/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/local/include/ceres/internal/autodiff.h:217:39: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/autodiff.h:217:69: error: template argument 1 is invalid
  217 | struct Make1stOrderPerturbations<std::integer_sequence<int, N, Ns...>,
      |                                                                     ^
/usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’
  232 | struct Make1stOrderPerturbations<std::integer_sequence<int>,
      |                                       ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:232:39: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/autodiff.h:232:59: error: template argument 1 is invalid
  232 | struct Make1stOrderPerturbations<std::integer_sequence<int>,
      |                                                           ^
/usr/local/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/local/include/ceres/internal/autodiff.h:282:31: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/autodiff.h:282:61: error: template argument 1 is invalid
  282 | struct Take1stOrderParts<std::integer_sequence<int, N, Ns...>,
      |                                                             ^
/usr/local/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/local/include/ceres/internal/autodiff.h:298:31: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/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/local/include/ceres/ceres.h:42,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/cost_function_to_functor.h:161:29: error: ‘std::integer_sequence’ has not been declared
  161 |                        std::integer_sequence<int, Indices...>) {
      |                             ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/cost_function_to_functor.h:161:45: error: expected ‘,’ or ‘...’ before ‘<’ token
  161 |                        std::integer_sequence<int, Indices...>) {
      |                                             ^
/usr/local/include/ceres/cost_function_to_functor.h: In member function ‘bool ceres::CostFunctionToFunctor<kNumResiduals, Ns>::operator()(const T*, Ts* ...) const’:
/usr/local/include/ceres/cost_function_to_functor.h:148:14: error: ‘make_integer_sequence’ in namespace ‘std’ does not name a template type
  148 |         std::make_integer_sequence<int, ParameterDims::kNumParameterBlocks>;
      |              ^~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/cost_function_to_functor.h:150:41: error: there are no arguments to ‘Indices’ that depend on a template parameter, so a declaration of ‘Indices’ must be available [-fpermissive]
  150 |         GetParameterPointers<T>(params, Indices());
      |                                         ^~~~~~~
In file included from /usr/local/include/ceres/dynamic_numeric_diff_cost_function.h:44,
                 from /usr/local/include/ceres/ceres.h:48,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/numeric_diff.h: At global scope:
/usr/local/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/local/include/ceres/internal/numeric_diff.h:445:48: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/numeric_diff.h:445:78: error: template argument 2 is invalid
  445 |                           std::integer_sequence<int, N, Ns...>,
      |                                                              ^

/usr/local/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’
  490 |                                           std::integer_sequence<int>,
      |                                                ^~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/numeric_diff.h:490:48: error: ‘integer_sequence’ is not a member of ‘std’
/usr/local/include/ceres/internal/numeric_diff.h:490:68: error: template argument 2 is invalid
  490 |                                           std::integer_sequence<int>,
      |                                                                    ^
In file included from /usr/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 4, 3, 3>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 4, 3, 3>’
/usr/local/include/ceres/autodiff_cost_function.h:154:7:   required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 4, 3, 3>’
/usr/local/include/ceres/autodiff_cost_function.h:154:7:   required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 4, 3, 3>’:
/usr/local/include/ceres/autodiff_cost_function.h:154:7:   required from ‘class ceres::AutoDiffCostFunction<ReprojectionError3D, 2, 4, 3, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:49:59:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 9, 7, 9>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<15, 7, 9, 7, 9>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/initial/../factor/imu_factor.h:12:33:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 7, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 7, 1, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 7, 7, 1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/projection_td_factor.h:10:42:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 9, 7, 9, 1, 1, 1, 3>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<2, 7, 9, 7, 9, 1, 1, 1, 3>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_psr_dopp_factor.hpp:26:41:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1, 1, 1, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 1, 1, 1, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1, 1, 1, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1, 1, 1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_ddt_factor.hpp:15:35:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_dt_anchor_factor.hpp:9:38:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 1, 1>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 1, 1>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 1, 1>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<1, 1, 1>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<1, 1, 1>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/gnss_ddt_smooth_factor.hpp:11:39:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7, 7, 9, 9>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7, 7, 9, 9>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7, 7, 9, 9>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<3, 7, 7, 9, 9>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pos_vel_factor.hpp:14:36:   required from here
/usr/local/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/local/include/ceres/internal/autodiff.h:151,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘constexpr const bool ceres::internal::ParameterDims<false, 7>::kIsValid’:
/usr/local/include/ceres/internal/parameter_dims.h:75:17:   required from ‘class ceres::internal::ParameterDims<false, 7>’
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<6, 7>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/internal/parameter_dims.h:74:40: error: ‘ceres::internal::IsValidParameterDimensionSequence’ cannot be used as a function
   74 |       IsValidParameterDimensionSequence(Parameters());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/include/ceres/internal/parameter_dims.h: In instantiation of ‘class ceres::internal::ParameterDims<false, 7>’:
/usr/local/include/ceres/sized_cost_function.h:49:47:   required from ‘class ceres::SizedCostFunction<6, 7>’
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40:   required from here
/usr/local/include/ceres/internal/parameter_dims.h:75:17: error: non-constant condition for static assertion
   75 |   static_assert(kIsValid,
      |                 ^~~~~~~~
In file included from /usr/local/include/ceres/autodiff_cost_function.h:131,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/sized_cost_function.h: In instantiation of ‘class ceres::SizedCostFunction<6, 7>’:
/home/akp/catkin_ws/src/GVINS/estimator/src/factor/pose_anchor_factor.h:10:40:   required from here
/usr/local/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/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/include/ceres/internal/autodiff.h: In instantiation of ‘bool ceres::internal::AutoDifferentiate(const Functor&, const T* const*, int, T*, T**) [with int kNumResiduals = 2; ParameterDims = ceres::internal::ParameterDims<false, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’:
/usr/local/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 = ReprojectionError3D; int kNumResiduals = 2; int ...Ns = {4, 3, 3}]’
/usr/local/include/ceres/autodiff_cost_function.h:200:8:   required from here
/usr/local/include/ceres/internal/autodiff.h:315:9: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
  315 |   using Parameters = typename ParameterDims::Parameters;
      |         ^~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:348:47: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
  348 |   Make1stOrderPerturbations<Parameters>::Apply(parameters,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
  349 |                                                parameters_as_jets.data());
      |                                                ~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/ceres/internal/autodiff.h:357:39: error: no type named ‘Parameters’ in ‘class ceres::internal::ParameterDims<false, 4, 3, 3>’
  357 |   Take1stOrderParts<Parameters>::Apply(
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  358 |       num_outputs, residuals_as_jets.data(), jacobians);
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/ceres/internal/autodiff.h:152,
                 from /usr/local/include/ceres/autodiff_cost_function.h:130,
                 from /usr/local/include/ceres/ceres.h:37,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/initial/initial_sfm.h:2,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator.h:9,
                 from /home/akp/catkin_ws/src/GVINS/estimator/src/estimator_node.cpp:15:
/usr/local/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, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’:
/usr/local/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, 4, 3, 3>; Functor = ReprojectionError3D; T = double]’
/usr/local/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 = ReprojectionError3D; int kNumResiduals = 2; int ...Ns = {4, 3, 3}]’
/usr/local/include/ceres/autodiff_cost_function.h:200:8:   required from here
/usr/local/include/ceres/internal/variadic_evaluate.h:80:65: error: ‘ParameterBlockIndices’ was not declared in this scope
   80 |       functor, input, output, IsDynamic(), ParameterBlockIndices());
      |                                            ~~~~~~~~~~~~~~~~~~~~~^~
make[2]: *** [GVINS/estimator/CMakeFiles/gvins.dir/build.make:63: GVINS/estimator/CMakeFiles/gvins.dir/src/estimator_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:3720: GVINS/estimator/CMakeFiles/gvins.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j1 -l1" failed

Thank you for your time

Using CXX flags as "std=c++14" will compile Ceres 2.0.0

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
enhancement New feature or request
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
3 participants
@GSORF @shaozu @Kranthi18reddy