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Hi, I build maplab (develop branch 483daf4) successfully on ubuntu16.04 and ubuntu20.04 under the guide of documents. But when I add some flag in compilation, catkin config --cmake-args -DBUILD_SHARED_LIBS=0 , there are some multi-definition error.
I figured out these problems and I would like to share the method(report maybe two bugs)
1.
the matching-based-engine.h includes matching-based-engine-inl.h here
Hi, I build maplab (develop branch 483daf4) successfully on ubuntu16.04 and ubuntu20.04 under the guide of documents. But when I add some flag in compilation,
catkin config --cmake-args -DBUILD_SHARED_LIBS=0
, there are some multi-definition error.I figured out these problems and I would like to share the method(report maybe two bugs)
1.
the
matching-based-engine.h
includesmatching-based-engine-inl.h
heremaplab/algorithms/loopclosure/matching-based-loopclosure/include/matching-based-loopclosure/matching-based-engine.h
Line 133 in 483daf4
matching-based-engine-inl.h
includesmatching-based-engine.h
heremaplab/algorithms/loopclosure/matching-based-loopclosure/include/matching-based-loopclosure/matching-based-engine-inl.h
Line 14 in 483daf4
2. (maybe this problem should be reported under https://github.com/ethz-asl/aslam_cv2 , but I think report in here is OK)
you implement
GyroTwoFrameMatcher::getKeypointIteratorsInWindow
in .h file here https://github.com/ethz-asl/aslam_cv2/blob/a385593ccc6c4d0dcead618581817d203afc5d11/aslam_cv_matcher/include/aslam/matcher/gyro-two-frame-matcher.h#L196 , and includesgyro-two-frame-matcher.h
file in both https://github.com/ethz-asl/aslam_cv2/blob/a385593ccc6c4d0dcead618581817d203afc5d11/aslam_cv_matcher/src/gyro-two-frame-matcher.cc#L1 and https://github.com/ethz-asl/aslam_cv2/blob/a385593ccc6c4d0dcead618581817d203afc5d11/aslam_cv_tracker/src/feature-tracker-gyro.cc#L8 , but bothaslam_cv_matcher
module andaslam_cv_tracker
module are used by rovioli, so this will cause multi-definition. this can be fixed by moving the implementation ofGyroTwoFrameMatcher::getKeypointIteratorsInWindow
togyro-two-frame-matcher.cc
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