If there is any one can help me with this error

[senses1]

I compiled cartographer-master
$cmake CMakeLists.txt
when it comes out error infomation like:
`- Build type: Release
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
Imported targets not available for Boost version 106600
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
/usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
CMakeLists.txt:31 (find_package)

-- Boost version: 1.66.0
-- Found the following Boost libraries:
-- iostreams
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3
-- Found required Ceres dependency: glog
CMake Error at /usr/local/lib/cmake/Ceres/CeresConfig.cmake:88 (message):
Failed to find Ceres - Missing requested Ceres components: [SuiteSparse]
(components requested: [SuiteSparse]). Detected Ceres version: 1.14.0
installed in: /usr/local with components: [EigenSparse,
SparseLinearAlgebraLibrary, SchurSpecializations, OpenMP, Multithreading].
Call Stack (most recent call first):
/usr/local/lib/cmake/Ceres/CeresConfig.cmake:390 (ceres_report_not_found)
CMakeLists.txt:32 (find_package)

CMake Error at CMakeLists.txt:32 (find_package):
Found package configuration file:

/usr/local/lib/cmake/Ceres/CeresConfig.cmake

but it set Ceres_FOUND to FALSE so package "Ceres" is considered to be NOT
FOUND.

-- Configuring incomplete, errors occurred!
See also "/home/tby/cartographer-master/CMakeFiles/CMakeOutput.log".
See also "/home/tby/cartographer-master/CMakeFiles/CMakeError.log".
`
and I searched for this ,I found the Suitesparse problem is fixed under Debian , but not under Ubuntu.
how could I solve this problem?

[pifon2a]

Hi,

have you tried sudo apt-get install libsuitesparse-dev and then rebuild Ceres? It should work on Ubuntu as well.

If you are using the version of Ceres in Ubuntu that you installed with apt-get, then remove it with sudo apt-get remove and build it yourself instead.

Here is the full list of commands:

sudo apt-get update
sudo apt-get install -y \
    cmake \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    ninja-build \
    python-sphinx \
    stow

and then

git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build
cd build
cmake .. -G Ninja -DCXX11=ON  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/ceres
ninja -j15
sudo ninja install
cd /usr/local/stow/ 
sudo stow ceres

Now you can rebuild Cartographer with cmake .. -G Ninja && ninja -j15. Do not forget to clean-up you build directories before that.

You can actually build Cartographer without SuiteSparse. It will be slower though. To do that, just open CMakeLists.txt and replace the line find_package(Ceres REQUIRED COMPONENTS SuiteSparse) to find_package(Ceres REQUIRED).

[senses1]

Hi pifon2a ,
I must thank you for your concern the question at your first convinence.
I followed your way but the terminal seems to hang up when i input
$ninja -15
[1/2] Building CXX object examples/CMakeFiles/nist.dir/nist.cc.o
the system seems very slow

and i start a new terminal and execute
$sudo ninja install
[1/3] Building CXX object examples/CMakeFiles/nist.dir/nist.cc.o

the system seems very slow

---

then all other shell cmd would not work properly

I replace the line in CMakeLists.txt like you said,and compiled with the shell line
$cmake ./CMakeLists.txt -G Ninja && ninja -j15
but the error infomation comes like below:

./CMakeLists.txt: 行 15: 未预期的符号 VERSION' 附近有语法错误 ./CMakeLists.txt: 行 15: cmake_minimum_required(VERSION 2.8.12) # Ships with Ubuntu 14.04 (Trusty)'

I am not so familiar with linux system,i usually use windows.
thanks again!!!!

[pifon2a]

Hi @senses1 ,

could you please run cmake --version and copy-paste here the output. It might have happened that your cmake should be updated.

Also, please, do not run the next command after the previous has failed:
ninja -j15 this command compiles stuff
sudo ninja install this one copies the output of the previous step into the specified directory (DCMAKE_INSTALL_PREFIX).

[senses1]

Hi @pifon2a,
I think ninja compile is a dead process
[1/2] Building CXX object examples/CMakeFiles/nist.dir/nist.cc.o
another dead file is something like 3d_map...
I restart VM directly, I guess this way would not get pass.
Is there another way to compile ceres-solver without ninja?

BTW, I'm using Virtual Box : Ubuntu 16.04 on 1 Core 1.5GB RAM
Physical is Win7 SP1 on i7 6500U ,4GB RAM Solid State Disk 120GB.

[senses1]

I only use 2D indoor SLAM , it is enough for me

[pifon2a]

You can do it just with cmake without ninja. Install these:

sudo apt-get install autoconf \
automake \
build-essential \
clang \
clang-format \
cmake \
cmake-curses-gui \
curl \
g++ \
git \
gitk  \
google-mock \
kcachegrind \
libboost-all-dev \
libc++-dev \
libcairo2-dev \
libeigen3-dev \
libgflags-dev \
libgtest-dev \
libgoogle-glog-dev \
liblua5.2-dev \
libsuitesparse-dev \
libtool \
make \
meld \
ninja-build \
python-rosdep \
python-sphinx
python-wstool \
stow \
unzip \
valgrind

Ok, now let's start from scratch.

Ceres part:

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build && cd build
cmake .. -G Ninja -DCXX11=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/ceres
cd /usr/local/stow/
sudo stow ceres

Cartographer part:

git@github.com:googlecartographer/cartographer.git
cd cartographer
mkdir build
cd build
cmake ..
make -j10

[senses1]

Hi @pifon2a,
compile seems went well,but I ran
$sudo stow ceres
the terminal shows as below:
$ cmake .. -G Ninja -DCXX11=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/ceres
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Detected Ceres version: 1.14.0 from /home/tby/ceres-solver/include/ceres/version.h
-- No preference for use of exported Eigen CMake configuration set, and no hints for include directory provided. Defaulting to preferring an installed/exported Eigen CMake configuration if available.
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found Eigen: /usr/include/eigen3 (found version "3.2.92")
-- Found Eigen version 3.2.92: /usr/include/eigen3
-- Enabling use of Eigen as a sparse linear algebra library.
-- Looking for dgemm_
-- Looking for dgemm_ - found
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- A library with BLAS API found.
-- Found LAPACK library: /usr/lib/liblapack.so;/usr/lib/libf77blas.so;/usr/lib/libatlas.so
-- A library with BLAS API found.
-- Found AMD headers in: /usr/local/include
-- Found AMD library: /usr/local/lib/libamd.a
-- Found CAMD headers in: /usr/local/include
-- Found CAMD library: /usr/local/lib/libcamd.a
-- Found COLAMD headers in: /usr/local/include
-- Found COLAMD library: /usr/local/lib/libcolamd.a
-- Found CCOLAMD headers in: /usr/local/include
-- Found CCOLAMD library: /usr/local/lib/libccolamd.a
-- Found CHOLMOD headers in: /usr/local/include
-- Found CHOLMOD library: /usr/local/lib/libcholmod.a
-- Found SUITESPARSEQR headers in: /usr/local/include
-- Found SUITESPARSEQR library: /usr/local/lib/libspqr.a
-- Did not find Intel TBB library, assuming SuiteSparseQR was not compiled with TBB.
-- Found SUITESPARSE_CONFIG headers in: /usr/local/include
-- Found SUITESPARSE_CONFIG library: /usr/local/lib/libsuitesparseconfig.a
-- Found LIBRT library: /usr/lib/x86_64-linux-gnu/librt.so
-- Adding librt: /usr/lib/x86_64-linux-gnu/librt.so to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Did not find METIS library (optional SuiteSparse dependency)
-- Found SuiteSparse: TRUE (found version "4.0.2")
-- Found SuiteSparse 4.0.2, building with SuiteSparse.
-- Found CXSparse: /usr/local/include (found version "2.3.0")
-- Found CXSparse version: 2.3.0, building with CXSparse.
-- No preference for use of exported gflags CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported gflags CMake configuration if available.
-- Failed to find installed gflags CMake configuration, searching for gflags build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for gflags, will perform search for installed gflags components.
-- Performing Test GFLAGS_IN_GOOGLE_NAMESPACE
-- Performing Test GFLAGS_IN_GOOGLE_NAMESPACE - Success
-- Found Gflags: /usr/include
-- Found Google Flags header in: /usr/include, in namespace: google
-- No preference for use of exported glog CMake configuration set, and no hints for include/library directories provided. Defaulting to preferring an installed/exported glog CMake configuration if available.
-- Failed to find installed glog CMake configuration, searching for glog build directories exported with CMake.
-- Failed to find an installed/exported CMake configuration for glog, will perform search for installed glog components.
-- Found Glog: /usr/include
-- Found Google Log (glog). Assuming glog was built with gflags support as gflags was found. This will make gflags a public dependency of Ceres.
-- Building with OpenMP.
-- Performing Test COMPILER_HAS_CXX11_FLAG
-- Performing Test COMPILER_HAS_CXX11_FLAG - Success
-- Looking for C++ include unordered_map
-- Looking for C++ include unordered_map - found
-- Performing Test HAVE_UNORDERED_MAP_IN_STD_NAMESPACE
-- Performing Test HAVE_UNORDERED_MAP_IN_STD_NAMESPACE - Success
-- Found unordered_map/set in std namespace.
-- Looking for C++ include memory
-- Looking for C++ include memory - found
-- Performing Test HAVE_SHARED_PTR_IN_STD_NAMESPACE
-- Performing Test HAVE_SHARED_PTR_IN_STD_NAMESPACE - Success
-- Found shared_ptr in std namespace using header.
-- Performing Test CXX11_MATH_FUNCTIONS_FOUND
-- Performing Test CXX11_MATH_FUNCTIONS_FOUND - Success

Compiling Ceres using C++11. This will result in a version
of Ceres that will require the use of C++11 in client code.

-- Failed to find Google benchmark library, disabling build of benchmarks.
-- Building Ceres as a static library.
-- No build type specified; defaulting to CMAKE_BUILD_TYPE=Release.
-- Enabling CERES_USE_EIGEN_SPARSE in Ceres config.h
-- Enabling CERES_USE_CXX11 in Ceres config.h
-- Enabling CERES_USE_OPENMP in Ceres config.h
-- Enabling CERES_HAVE_PTHREAD in Ceres config.h
-- Enabling CERES_HAVE_RWLOCK in Ceres config.h
-- Enabling CERES_STD_UNORDERED_MAP in Ceres config.h
-- Build the examples.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tby/ceres-solver/build
tby@tby-VirtualBox:~/ceres-solver/build$ cd /usr/local/stow/tby@tby-VirtualBox:/usr/local/stow$ sudo stow ceresstow: ERROR: The stow directory stow does not contain package ceres

[pifon2a]

Oh, I am so sorry: you need two more commands for Ceres (make -j10 and make install), so the final version looks like:

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build && cd build
cmake .. -G Ninja -DCXX11=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/ceres
make -j10
sudo make install
cd /usr/local/stow/
sudo stow ceres

[senses1]

I changed the cmake command like:

cmake .. -G "Unix Makefiles" -DCXX11=ON -DCMAKE_INSTALL_PREFIX=/usr/local/stow/ceres
make -j2
sudo make install
cd /usr/local/stow/
sudo stow ceres
and Trying.
But I have tried yesterday morning in ceres-solver-master , the compile process still not respond when it goto nist.cc.o

[pifon2a]

@senses1, I do not know, we have a quite powerful hardware here. Try to remove -j* at all.

[senses1]

finally I compiled the cartographer,I found 2 Error , but still can not find which file to modify the situation of not compile TEST funstions:

/usr/local/lib/libgmock_main.a(gmock_main.cc.o)：在函数‘RUN_ALL_TESTS()’中：
gmock_main.cc:(.text._Z13RUN_ALL_TESTSv[_Z13RUN_ALL_TESTSv]+0x5)：对‘testing::UnitTest::GetInstance()’未定义的引用
gmock_main.cc:(.text._Z13RUN_ALL_TESTSv[_Z13RUN_ALL_TESTSv]+0xd)：对‘testing::UnitTest::Run()’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/cartographer.transform.transform_test.dir/build.make:103: recipe for target 'cartographer.transform.transform_test' failed
make[2]: *** [cartographer.transform.transform_test] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/cartographer.transform.transform_test.dir/all' failed
make[1]: *** [CMakeFiles/cartographer.transform.transform_test.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

[senses1]

在函数 ****中 means in function
未定义的引用 means undefined reference.

[senses1]

$make -k
but I wonder if this command would lead to a successful compile to key module?

[senses1]

Hi pifon2a,
Well I am disturbing you again for the 3 commented question listed up above.
Thanks again

[pifon2a]

Try to do 'make clean' and recompile. Gmock should link.

[senses1]

I've commented the gtest code compile command in CMakelist.txt and it passed.
And I am going to try cartographer.
Thank you you your help very much!!!

[senses1]

@pifon2a

[touchmii]

I compiled cartographer-master
$cmake CMakeLists.txt
when it comes out error infomation like:
`- Build type: Release
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
Imported targets not available for Boost version 106600
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
/usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
CMakeLists.txt:31 (find_package)

-- Boost version: 1.66.0
-- Found the following Boost libraries:
-- iostreams
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.2.92 in /usr/include/eigen3
-- Found required Ceres dependency: glog
CMake Error at /usr/local/lib/cmake/Ceres/CeresConfig.cmake:88 (message):
Failed to find Ceres - Missing requested Ceres components: [SuiteSparse]
(components requested: [SuiteSparse]). Detected Ceres version: 1.14.0
installed in: /usr/local with components: [EigenSparse,
SparseLinearAlgebraLibrary, SchurSpecializations, OpenMP, Multithreading].
Call Stack (most recent call first):
/usr/local/lib/cmake/Ceres/CeresConfig.cmake:390 (ceres_report_not_found)
CMakeLists.txt:32 (find_package)

CMake Error at CMakeLists.txt:32 (find_package):
Found package configuration file:

/usr/local/lib/cmake/Ceres/CeresConfig.cmake

but it set Ceres_FOUND to FALSE so package "Ceres" is considered to be NOT
FOUND.

-- Configuring incomplete, errors occurred!
See also "/home/tby/cartographer-master/CMakeFiles/CMakeOutput.log".
See also "/home/tby/cartographer-master/CMakeFiles/CMakeError.log".
`
and I searched for this ,I found the Suitesparse problem is fixed under Debian , but not under Ubuntu.
how could I solve this problem?

build_isolated/ceres-solver/install/CMakeCache.txt 里找到EIGENSPARSE:BOOL=OFF ， 把OFF 改成ON