glomap build failed #199

i have manually build colmap and poselib and used those to build glomap.

command used:
cmake .. \ -GNinja \ -DCMAKE_BUILD_TYPE=Release \ -DCMAKE_CUDA_ARCHITECTURES=86 \ -DFETCH_COLMAP=OFF \ -DFETCH_POSELIB=OFF \ -DCOLMAP_DIR=/usr/local/share/colmap \ -DPoseLib_DIR=/usr/local/lib/cmake/PoseLib
the log that i get:
-- The C compiler identification is GNU 10.5.0
-- The CXX compiler identification is GNU 10.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Found CHOLMOD headers in: /usr/include/suitesparse
-- Found CHOLMOD library: /usr/lib/x86_64-linux-gnu/libcholmod.so
-- Found Config headers in: /usr/include/suitesparse
-- Found Config library: /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so
-- Found AMD headers in: /usr/include/suitesparse
-- Found AMD library: /usr/lib/x86_64-linux-gnu/libamd.so
-- Found CAMD headers in: /usr/include/suitesparse
-- Found CAMD library: /usr/lib/x86_64-linux-gnu/libcamd.so
-- Found CCOLAMD headers in: /usr/include/suitesparse
-- Found CCOLAMD library: /usr/lib/x86_64-linux-gnu/libccolamd.so
-- Found COLAMD headers in: /usr/include/suitesparse
-- Found COLAMD library: /usr/lib/x86_64-linux-gnu/libcolamd.so
-- Looking for shm_open in rt
-- Looking for shm_open in rt - found
-- Adding librt to SuiteSparse_config libraries (required on Linux & Unix [not OSX] if SuiteSparse is compiled with timing).
-- Found METIS: /usr/include (found version "5.1.0")
-- Looking for cholmod_metis
-- Looking for cholmod_metis - found
-- Found SuiteSparse: /usr/include/suitesparse (found version "5.10.1") found components: CHOLMOD Config AMD CAMD CCOLAMD COLAMD
-- Found required Ceres dependency: Eigen version 3.4.0 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
CMake Warning (dev) at cmake/FindDependencies.cmake:9 (find_package):
Policy CMP0167 is not set: The FindBoost module is removed. Run "cmake
--help-policy CMP0167" for policy details. Use the cmake_policy command to
set the policy and suppress this warning.

Call Stack (most recent call first):
CMakeLists.txt:23 (include)
This warning is for project developers. Use -Wno-dev to suppress it.

-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.74.0/BoostConfig.cmake (found version "1.74.0")
-- Configuring PoseLib...
-- Configuring PoseLib... done
-- Configuring COLMAP...
-- Enabling LSD support
-- Found OpenMP_C: -fopenmp (found version "4.5")
-- Found OpenMP_CXX: -fopenmp (found version "4.5")
-- Found OpenMP: TRUE (found version "4.5")
-- Found FreeImage
-- Includes : /usr/include
-- Libraries : /usr/lib/x86_64-linux-gnu/libfreeimage.so
-- Found Metis
-- Includes : /usr/include
-- Libraries : /usr/lib/x86_64-linux-gnu/libmetis.so
-- Found Glog
-- Target : glog::glog
-- Found SQLite3: /usr/include (found version "3.37.2")
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so
-- Found Glew
-- Includes : /usr/include
-- Libraries : /usr/lib/x86_64-linux-gnu/libGLEW.so
-- Found Git: /usr/bin/git (found version "2.34.1")
-- Found required Ceres dependency: Eigen version 3.4.0 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found required Ceres dependency: gflags
-- Found Ceres version: 2.0.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, Multithreading]
-- Using header-only CGAL
-- Targetting Ninja
-- Using /usr/bin/c++ compiler.
-- Found GMP: /usr/lib/x86_64-linux-gnu/libgmp.so
-- Found MPFR: /usr/lib/x86_64-linux-gnu/libmpfr.so
-- Boost include dirs: /usr/include
-- Boost libraries:
-- Using gcc version 4 or later. Adding -frounding-math
-- Found CGAL
-- Includes : /usr/include
-- Libraries : CGAL
-- Enabling download support
-- The CUDA compiler identification is NVIDIA 12.6.20
-- Detecting CUDA compiler ABI info
-- Detecting CUDA compiler ABI info - done
-- Check for working CUDA compiler: /usr/local/cuda/bin/nvcc - skipped
-- Detecting CUDA compile features
-- Detecting CUDA compile features - done
-- Enabling CUDA support (version: 12.6.20, archs: 86)
-- Found Qt
-- Module : /usr/lib/x86_64-linux-gnu/cmake/Qt5Core
-- Module : /usr/lib/x86_64-linux-gnu/cmake/Qt5OpenGL
-- Module : /usr/lib/x86_64-linux-gnu/cmake/Qt5Widgets
-- Enabling GUI support
-- Disabling OpenGL support
-- Enabling GPU support (OpenGL: , CUDA: ON)
-- Configuring COLMAP... done
-- Enabling CUDA support (version: 12.6.20, archs: 86)
-- Disabling ccache support
-- Configuring done (38.1s)
-- Generating done (0.0s)
-- Build files have been written to: /home/hdsl77/glomap/build

then i run ninja in the glomap/build folder and get errors:
[1/31] Building CXX object glomap/CMakeFiles/glomap.dir/estimators/relpose_estimation.cc.o
FAILED: glomap/CMakeFiles/glomap.dir/estimators/relpose_estimation.cc.o
/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_GRAPH_DYN_LINK -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_REGEX_DYN_LINK -DCERES_EXPORT_INTERNAL_SYMBOLS -DCOLMAP_CGAL_ENABLED -DCOLMAP_CUDA_ENABLED -DCOLMAP_DOWNLOAD_ENABLED -DCOLMAP_GPU_ENABLED -DCOLMAP_GUI_ENABLED -DCOLMAP_LSD_ENABLED -DGFLAGS_IS_A_DLL=0 -DGLOG_VERSION_MAJOR=0 -DGLOG_VERSION_MINOR=4 -DGLOMAP_CUDA_ENABLED -DGOOGLE_GLOG_DLL_DECL="" -DGOOGLE_GLOG_DLL_DECL_FOR_UNITTESTS="" -DPOSELIB_DEBUG=0 -DQT_CORE_LIB -DQT_GUI_LIB -DQT_NO_DEBUG -DQT_OPENGL_LIB -DQT_WIDGETS_LIB -I/home/hdsl77/glomap/glomap/.. -isystem /usr/include/eigen3 -isystem /usr/include/x86_64-linux-gnu/qt5 -isystem /usr/include/x86_64-linux-gnu/qt5/QtCore -isystem /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -isystem /usr/include/x86_64-linux-gnu/qt5/QtOpenGL -isystem /usr/include/x86_64-linux-gnu/qt5/QtWidgets -isystem /usr/include/x86_64-linux-gnu/qt5/QtGui -isystem /usr/local/. -isystem /usr/local/cuda/targets/x86_64-linux/include -isystem /usr/include/suitesparse -O3 -DNDEBUG -std=gnu++17 -fPIC -Wall -Werror -Wno-sign-compare -Wno-unused-variable -fopenmp -MD -MT glomap/CMakeFiles/glomap.dir/estimators/relpose_estimation.cc.o -MF glomap/CMakeFiles/glomap.dir/estimators/relpose_estimation.cc.o.d -o glomap/CMakeFiles/glomap.dir/estimators/relpose_estimation.cc.o -c /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc: In lambda function:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:38: error: no match for ‘operator*’ (operand types are ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} and ‘std::optional<Eigen::Matrix<double, 2, 1> >’)
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| | |
| | std::optional<Eigen::Matrix<double, 2, 1> >
| Eigen::Matrix2d {aka Eigen::Matrix<double, 2, 2>}
In file included from /usr/include/eigen3/Eigen/Core:19,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: candidate: ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, T> > >::value>::type>, const Derived, const typename Eigen::internal::plain_constant_type<Derived, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, T> > >::value>::type>::type> Eigen::MatrixBase::operator*(const T&) const [with T = T; Derived = Eigen::Matrix<double, 2, 2>]’
50 | EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: template argument deduction/substitution failed:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h: In substitution of ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<double, T, Eigen::internal::scalar_product_op<double, T> > >::value>::type>, const Eigen::Matrix<double, 2, 2>, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<double, 2, 2>, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<double, T, Eigen::internal::scalar_product_op<double, T> > >::value>::type>::type> Eigen::MatrixBase<Eigen::Matrix<double, 2, 2> >::operator*(const T&) const [with T = std::optional<Eigen::Matrix<double, 2, 1> >]’:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: required from here
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: error: no type named ‘type’ in ‘struct Eigen::internal::promote_scalar_arg<double, std::optional<Eigen::Matrix<double, 2, 1> >, false>’
In file included from /usr/include/eigen3/Eigen/Core:273,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:166:5: note: candidate: ‘template const Eigen::Product<Derived, OtherDerived> Eigen::MatrixBase::operator*(const Eigen::MatrixBase&) const [with OtherDerived = OtherDerived; Derived = Eigen::Matrix<double, 2, 2>]’
166 | operator*(const MatrixBase &other) const;
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:166:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::MatrixBase’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:273,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:185:5: note: candidate: ‘template const Eigen::Product<Derived, OtherDerived, 1> Eigen::MatrixBase::operator*(const Eigen::DiagonalBase&) const [with DiagonalDerived = DiagonalDerived; Derived = Eigen::Matrix<double, 2, 2>]’
185 | operator*(const DiagonalBase &diagonal) const;
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:185:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::DiagonalBase’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:50,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/c++/10/complex:391:5: note: candidate: ‘template std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const std::complex<_Tp>&)’
391 | operator*(const complex<_Tp>& __x, const complex<_Tp>& __y)
| ^~~~~~~~
/usr/include/c++/10/complex:391:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const std::complex<_Tp>’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:50,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/c++/10/complex:400:5: note: candidate: ‘template std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const _Tp&)’
400 | operator*(const complex<_Tp>& __x, const _Tp& __y)
| ^~~~~~~~
/usr/include/c++/10/complex:400:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const std::complex<_Tp>’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:50,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/c++/10/complex:409:5: note: candidate: ‘template std::complex<_Tp> std::operator*(const _Tp&, const std::complex<_Tp>&)’
409 | operator*(const _Tp& __x, const complex<_Tp>& __y)
| ^~~~~~~~
/usr/include/c++/10/complex:409:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const std::complex<_Tp>’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:326,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:515:1: note: candidate: ‘template<class MatrixDerived, class PermutationDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::PermutationBase&)’
515 | operator*(const MatrixBase &matrix,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:515:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::PermutationBase’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:326,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:527:1: note: candidate: ‘template<class PermutationDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::PermutationBase&, const Eigen::MatrixBase&)’
527 | operator*(const PermutationBase &permutation,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:527:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const Eigen::PermutationBase’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:327,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:313:1: note: candidate: ‘template<class MatrixDerived, class TranspositionsDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::TranspositionsBase&)’
313 | operator*(const MatrixBase &matrix,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:313:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::TranspositionsBase’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:327,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:325:1: note: candidate: ‘template<class TranspositionsDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::TranspositionsBase&, const Eigen::MatrixBase&)’
325 | operator*(const TranspositionsBase &transpositions,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:325:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const Eigen::TranspositionsBase’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Householder:24,
from /usr/include/eigen3/Eigen/QR:15,
from /usr/include/eigen3/Eigen/SVD:11,
from /usr/include/eigen3/Eigen/Geometry:13,
from /usr/local/include/colmap/scene/camera.h:39,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:5,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: note: candidate: ‘template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)’
513 | typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Geometry:46,
from /usr/local/include/colmap/scene/camera.h:39,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:5,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: candidate: ‘template<class Derived, class Scalar> Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, Scalar>, const Derived, const typename Eigen::internal::plain_constant_type<Expr, Scalar>::type> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::UniformScaling&)’
135 | operator*(const MatrixBase& matrix, const UniformScaling& s)
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::UniformScaling’
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:19,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: candidate: ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type, double>, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<double, 2, 1>, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type>::type, const Eigen::Matrix<double, 2, 1> > Eigen::operator*(const T&, const StorageBaseType&)’
50 | EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:58: note: cannot convert ‘colmap::Camera::CamFromImg(const Vector2d&) const(((const Vector2d)(& points2D_1.std::vector<Eigen::Matrix<double, 2, 1> >::operator)))’ (type ‘std::optional<Eigen::Matrix<double, 2, 1> >’) to type ‘const StorageBaseType&’ {aka ‘const Eigen::MatrixBase<Eigen::Matrix<double, 2, 1> >&’}
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:19,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: candidate: ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type, double>, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<double, 2, 2>, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type>::type, const Eigen::Matrix<double, 2, 2> > Eigen::operator*(const T&, const StorageBaseType&)’
50 | EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:58: note: cannot convert ‘colmap::Camera::CamFromImg(const Vector2d&) const(((const Vector2d)(& points2D_1.std::vector<Eigen::Matrix<double, 2, 1> >::operator)))’ (type ‘std::optional<Eigen::Matrix<double, 2, 1> >’) to type ‘const StorageBaseType&’ {aka ‘const Eigen::MatrixBase<Eigen::Matrix<double, 2, 2> >&’}
73 | points2D_1[idx] = K1_new * camera1.CamFromImg(points2D_1[idx]);
| ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:38: error: no match for ‘operator*’ (operand types are ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} and ‘std::optional<Eigen::Matrix<double, 2, 1> >’)
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
| | |
| | std::optional<Eigen::Matrix<double, 2, 1> >
| Eigen::Matrix2d {aka Eigen::Matrix<double, 2, 2>}
In file included from /usr/include/eigen3/Eigen/Core:19,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: candidate: ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, T> > >::value>::type>, const Derived, const typename Eigen::internal::plain_constant_type<Derived, typename Eigen::internal::promote_scalar_arg<typename Eigen::internal::traits::Scalar, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits::Scalar, T, Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, T> > >::value>::type>::type> Eigen::MatrixBase::operator*(const T&) const [with T = T; Derived = Eigen::Matrix<double, 2, 2>]’
50 | EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: template argument deduction/substitution failed:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h: In substitution of ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<double, T, Eigen::internal::scalar_product_op<double, T> > >::value>::type>, const Eigen::Matrix<double, 2, 2>, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<double, 2, 2>, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<double, T, Eigen::internal::scalar_product_op<double, T> > >::value>::type>::type> Eigen::MatrixBase<Eigen::Matrix<double, 2, 2> >::operator*(const T&) const [with T = std::optional<Eigen::Matrix<double, 2, 1> >]’:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: required from here
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: error: no type named ‘type’ in ‘struct Eigen::internal::promote_scalar_arg<double, std::optional<Eigen::Matrix<double, 2, 1> >, false>’
In file included from /usr/include/eigen3/Eigen/Core:273,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:166:5: note: candidate: ‘template const Eigen::Product<Derived, OtherDerived> Eigen::MatrixBase::operator*(const Eigen::MatrixBase&) const [with OtherDerived = OtherDerived; Derived = Eigen::Matrix<double, 2, 2>]’
166 | operator*(const MatrixBase &other) const;
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:166:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::MatrixBase’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:273,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:185:5: note: candidate: ‘template const Eigen::Product<Derived, OtherDerived, 1> Eigen::MatrixBase::operator*(const Eigen::DiagonalBase&) const [with DiagonalDerived = DiagonalDerived; Derived = Eigen::Matrix<double, 2, 2>]’
185 | operator*(const DiagonalBase &diagonal) const;
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/MatrixBase.h:185:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::DiagonalBase’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:50,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/c++/10/complex:391:5: note: candidate: ‘template std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const std::complex<_Tp>&)’
391 | operator*(const complex<_Tp>& __x, const complex<_Tp>& __y)
| ^~~~~~~~
/usr/include/c++/10/complex:391:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const std::complex<_Tp>’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:50,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/c++/10/complex:400:5: note: candidate: ‘template std::complex<_Tp> std::operator*(const std::complex<_Tp>&, const _Tp&)’
400 | operator*(const complex<_Tp>& __x, const _Tp& __y)
| ^~~~~~~~
/usr/include/c++/10/complex:400:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const std::complex<_Tp>’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:50,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/c++/10/complex:409:5: note: candidate: ‘template std::complex<_Tp> std::operator*(const _Tp&, const std::complex<_Tp>&)’
409 | operator*(const _Tp& __x, const complex<_Tp>& __y)
| ^~~~~~~~
/usr/include/c++/10/complex:409:5: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const std::complex<_Tp>’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:326,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:515:1: note: candidate: ‘template<class MatrixDerived, class PermutationDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::PermutationBase&)’
515 | operator*(const MatrixBase &matrix,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:515:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::PermutationBase’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:326,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:527:1: note: candidate: ‘template<class PermutationDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::PermutationBase&, const Eigen::MatrixBase&)’
527 | operator*(const PermutationBase &permutation,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:527:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const Eigen::PermutationBase’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:327,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:313:1: note: candidate: ‘template<class MatrixDerived, class TranspositionsDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::TranspositionsBase&)’
313 | operator*(const MatrixBase &matrix,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:313:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::TranspositionsBase’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:327,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:325:1: note: candidate: ‘template<class TranspositionsDerived, class MatrixDerived> const Eigen::Product<MatrixDerived, PermutationDerived, 2> Eigen::operator*(const Eigen::TranspositionsBase&, const Eigen::MatrixBase&)’
325 | operator*(const TranspositionsBase &transpositions,
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Core/Transpositions.h:325:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} is not derived from ‘const Eigen::TranspositionsBase’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Householder:24,
from /usr/include/eigen3/Eigen/QR:15,
from /usr/include/eigen3/Eigen/SVD:11,
from /usr/include/eigen3/Eigen/Geometry:13,
from /usr/local/include/colmap/scene/camera.h:39,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:5,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: note: candidate: ‘template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)’
513 | typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:513:99: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Geometry:46,
from /usr/local/include/colmap/scene/camera.h:39,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:5,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: candidate: ‘template<class Derived, class Scalar> Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::traits::Scalar, Scalar>, const Derived, const typename Eigen::internal::plain_constant_type<Expr, Scalar>::type> Eigen::operator*(const Eigen::MatrixBase&, const Eigen::UniformScaling&)’
135 | operator*(const MatrixBase& matrix, const UniformScaling& s)
| ^~~~~~~~
/usr/include/eigen3/Eigen/src/Geometry/Scaling.h:135:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:74: note: ‘std::optional<Eigen::Matrix<double, 2, 1> >’ is not derived from ‘const Eigen::UniformScaling’
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ^
In file included from /usr/include/eigen3/Eigen/Core:19,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: candidate: ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type, double>, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<double, 2, 1>, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type>::type, const Eigen::Matrix<double, 2, 1> > Eigen::operator*(const T&, const StorageBaseType&)’
50 | EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:58: note: cannot convert ‘colmap::Camera::CamFromImg(const Vector2d&) const(((const Vector2d)(& points2D_2.std::vector<Eigen::Matrix<double, 2, 1> >::operator)))’ (type ‘std::optional<Eigen::Matrix<double, 2, 1> >’) to type ‘const StorageBaseType&’ {aka ‘const Eigen::MatrixBase<Eigen::Matrix<double, 2, 1> >&’}
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:19,
from /home/hdsl77/glomap/glomap/../glomap/types.h:10,
from /home/hdsl77/glomap/glomap/../glomap/scene/camera.h:3,
from /home/hdsl77/glomap/glomap/../glomap/scene/types_sfm.h:3,
from /home/hdsl77/glomap/glomap/../glomap/estimators/relpose_estimation.h:3,
from /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:1:
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: candidate: ‘template const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type, double>, const typename Eigen::internal::plain_constant_type<Eigen::Matrix<double, 2, 2>, typename Eigen::internal::promote_scalar_arg<double, T, Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<T, double, Eigen::internal::scalar_product_op<T, double> > >::value>::type>::type, const Eigen::Matrix<double, 2, 2> > Eigen::operator*(const T&, const StorageBaseType&)’
50 | EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h:50:1: note: template argument deduction/substitution failed:
/home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:74:58: note: cannot convert ‘colmap::Camera::CamFromImg(const Vector2d&) const(((const Vector2d)(& points2D_2.std::vector<Eigen::Matrix<double, 2, 1> >::operator)))’ (type ‘std::optional<Eigen::Matrix<double, 2, 1> >’) to type ‘const StorageBaseType&’ {aka ‘const Eigen::MatrixBase<Eigen::Matrix<double, 2, 2> >&’}
74 | points2D_2[idx] = K2_new * camera2.CamFromImg(points2D_2[idx]);
| ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~
[2/31] Building CXX object glomap/CMakeFiles/glomap.dir/controllers/track_retriangulation.cc.o
FAILED: glomap/CMakeFiles/glomap.dir/controllers/track_retriangulation.cc.o
/usr/bin/c++ -DBOOST_ALL_NO_LIB -DBOOST_GRAPH_DYN_LINK -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_REGEX_DYN_LINK -DCERES_EXPORT_INTERNAL_SYMBOLS -DCOLMAP_CGAL_ENABLED -DCOLMAP_CUDA_ENABLED -DCOLMAP_DOWNLOAD_ENABLED -DCOLMAP_GPU_ENABLED -DCOLMAP_GUI_ENABLED -DCOLMAP_LSD_ENABLED -DGFLAGS_IS_A_DLL=0 -DGLOG_VERSION_MAJOR=0 -DGLOG_VERSION_MINOR=4 -DGLOMAP_CUDA_ENABLED -DGOOGLE_GLOG_DLL_DECL="" -DGOOGLE_GLOG_DLL_DECL_FOR_UNITTESTS="" -DPOSELIB_DEBUG=0 -DQT_CORE_LIB -DQT_GUI_LIB -DQT_NO_DEBUG -DQT_OPENGL_LIB -DQT_WIDGETS_LIB -I/home/hdsl77/glomap/glomap/.. -isystem /usr/include/eigen3 -isystem /usr/include/x86_64-linux-gnu/qt5 -isystem /usr/include/x86_64-linux-gnu/qt5/QtCore -isystem /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -isystem /usr/include/x86_64-linux-gnu/qt5/QtOpenGL -isystem /usr/include/x86_64-linux-gnu/qt5/QtWidgets -isystem /usr/include/x86_64-linux-gnu/qt5/QtGui -isystem /usr/local/. -isystem /usr/local/cuda/targets/x86_64-linux/include -isystem /usr/include/suitesparse -O3 -DNDEBUG -std=gnu++17 -fPIC -Wall -Werror -Wno-sign-compare -Wno-unused-variable -fopenmp -MD -MT glomap/CMakeFiles/glomap.dir/controllers/track_retriangulation.cc.o -MF glomap/CMakeFiles/glomap.dir/controllers/track_retriangulation.cc.o.d -o glomap/CMakeFiles/glomap.dir/controllers/track_retriangulation.cc.o -c /home/hdsl77/glomap/glomap/controllers/track_retriangulation.cc
/home/hdsl77/glomap/glomap/controllers/track_retriangulation.cc: In function ‘bool glomap::RetriangulateTracks(const glomap::TriangulatorOptions&, const colmap::Database&, std::unordered_map<unsigned int, glomap::Camera>&, std::unordered_map<unsigned int, glomap::Image>&, std::unordered_map<long unsigned int, glomap::Track>&)’:
/home/hdsl77/glomap/glomap/controllers/track_retriangulation.cc:62:75: error: invalid initialization of reference of type ‘const std::set&’ from expression of type ‘std::vector’
62 | const std::set<image_t>& reg_image_ids = reconstruction_ptr->RegImageIds();
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/home/hdsl77/glomap/glomap/controllers/track_retriangulation.cc:82:14: error: ‘struct colmap::BundleAdjustmentOptions’ has no member named ‘refine_extrinsics’; did you mean ‘refine_extra_params’?
82 | ba_options.refine_extrinsics = false;
| ^~~~~~~~~~~~~~~~~
| refine_extra_params
[10/31] Building CXX object glomap/CMakeFiles/glomap.dir/estimators/bundle_adjustment.cc.o
ninja: build stopped: subcommand failed.

the 2 errors that i could get from this log are:

1. /home/hdsl77/glomap/glomap/estimators/relpose_estimation.cc:73:38: error: no match for ‘operator*’ (operand types are ‘Eigen::Matrix2d’ {aka ‘Eigen::Matrix<double, 2, 2>’} and ‘std::optional<Eigen::Matrix<double, 2, 1> >’)
2. /home/hdsl77/glomap/glomap/controllers/track_retriangulation.cc:82:14: error: ‘struct colmap::BundleAdjustmentOptions’ has no member named ‘refine_extrinsics’; did you mean ‘refine_extra_params’?

can someone help me fix this? been stuck for some time now.