override kinetic thirdparty libs in CMakeLists

asked 2017-10-01 14:02:35 -0600

rnunziata gravatar image

I am compiling lsd_slam and it keeps taking the versio of Sophus released in kinetic and not the thirdparty folder even though the CMakeLists.txt has

:include_directories(
${PROJECT_SOURCE_DIR}/thirdparty/Sophus ${EIGEN3_INCLUDE_DIR}
${PROJECT_SOURCE_DIR}/src
${CSPARSE_INCLUDE_DIR} #Has been set by SuiteParse ${CHOLMOD_INCLUDE_DIR} #Has been set by SuiteParse )

The error is as follows , notice the libs used.

CMakeFiles/lsdslam.dir/build.make:134: recipe for target 'CMakeFiles/lsdslam.dir/src/SlamSystem.cpp.o' failed make[3]: * [CMakeFiles/lsdslam.dir/src/SlamSystem.cpp.o] Error 1 In file included from /opt/ros/kinetic/include/sophus/rxso3.hpp:26:0, from /opt/ros/kinetic/include/sophus/sim3.hpp:26, from /home/rjn/catkin_ws/src_nstd/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:23, from /home/rjn/catkin_ws/src_nstd/package_dir/lsd_slam/lsd_slam_core/src/LiveSLAMWrapper.h:30, from /home/rjn/catkin_ws/src_nstd/package_dir/lsd_slam/lsd_slam_core/src/LiveSLAMWrapper.cpp:21: >/opt/ros/kinetic/include/sophus/sophus.hpp:50:23: warning: type qualifiers ignored on function return type [-Wignored-qualifiers] const float epsilon() { ^ /opt/ros/kinetic/include/sophus/sophus.hpp:55:18: warning: type qualifiers ignored on function return type [-Wignored-qualifiers] const float pi() {

In file included from /home/rjn/catkin_ws/src_nstd/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:23:0, from /home/rjn/catkin_ws/src_nstd/package_dir/lsd_slam/lsd_slam_core/src/LiveSLAMWrapper.h:30, from /home/rjn/catkin_ws/src_nstd/package_dir/lsd_slam/lsd_slam_core/src/LiveSLAMWrapper.cpp:21: /opt/ros/kinetic/include/sophus/sim3.hpp: In instantiation of ‘void Sophus::Sim3GroupBase<derived>::setScale(const
Scalar&) const [with Derived = Sophus::Sim3Group<double>; Sophus::Sim3GroupBase<derived>::Scalar = double]’: /home/rjn/catkin_ws/src_nstd/package_dir/lsd_slam/lsd_slam_core/src/util/SophusUtil.h:56:23: required from here> /opt/ros/kinetic/include/sophus/sim3.hpp:339:5: error: passing ‘const RxSO3Type {aka const >Sophus::RxSO3Group<double>}’ as ‘this’ argument discards qualifiers [-fpermissive] rxso3().setScale(scale);

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