build failed on ubuntu22.04 lts

[yangkees]

hello;;
im trying to build gtsam with matlab too;box on ubuntu22.04lts
Following the build commands:
mkdir build
cd build
sudo cmake ..
sudo make install

cmake output:

-- GTSAM_POSE3_EXPMAP=ON, enabling GTSAM_ROT3_EXPMAP as well
-- Found Eigen version: 3.4.0
-- checking for thread-local storage - found
-- Could NOT find MKL (missing: MKL_INCLUDE_DIR MKL_LIBRARIES) 
CMake Warning at cmake/HandleTBB.cmake:4 (find_package):
  By not providing "FindTBB.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "TBB", but
  CMake did not find one.

  Could not find a package configuration file provided by "TBB" (requested
  version 4.4) with any of the following names:

    TBBConfig.cmake
    tbb-config.cmake

  Add the installation prefix of "TBB" to CMAKE_PREFIX_PATH or set "TBB_DIR"
  to a directory containing one of the above files.  If "TBB" provides a
  separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:129 (include)


-- Building 3rdparty
-- Building base
-- Building basis
-- Building constrained
-- Building geometry
-- Building inference
-- Building symbolic
-- Building discrete
-- Building hybrid
-- Building linear
-- Building nonlinear
-- Building sam
-- Building sfm
-- Building slam
-- Building navigation
-- GTSAM Version: 4.3a1
-- Install prefix: /usr/local
-- Building GTSAM - as a SHARED library
-- Building base_unstable
-- Building geometry_unstable
-- Building linear_unstable
-- Building discrete_unstable
-- Building dynamics_unstable
-- Building nonlinear_unstable
-- Building slam_unstable
-- Building partition_unstable
-- GTSAM_UNSTABLE Version: 4.3a1
-- Install prefix: /usr/local
-- gtwrap Package config : /usr/local/lib/cmake/gtwrap
-- gtwrap version        : 1.0
-- gtwrap CMake path     : /usr/local/lib/cmake/gtwrap
-- gtwrap library path   : /usr/local/lib/gtwrap
-- gtwrap binary path    : /usr/local/bin/gtwrap
-- gtwrap header path    : /usr/local/include/gtwrap
-- Building wrap module gtsam
-- Installing Matlab Toolbox to /usr/local/gtsam_toolbox
-- Wrote /home/tanchang/Desktop/gtsam-release-4.3a1/build/GTSAMConfig.cmake
-- Wrote /home/tanchang/Desktop/gtsam-release-4.3a1/build/GTSAM_UNSTABLEConfig.cmake
-- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
-- ===============================================================
-- ================  Configuration Options  ======================
--  CMAKE_CXX_COMPILER_ID type                       : GNU
--  CMAKE_CXX_COMPILER_VERSION                       : 9.5.0
--  CMake version                                    : 3.22.1
--  CMake generator                                  : Unix Makefiles
--  CMake build tool                                 : /usr/bin/gmake
-- Build flags                                               
--  Build Tests                                      : Enabled
--  Build examples with 'make all'                   : Enabled
--  Build timing scripts with 'make all'             : Disabled
--  Build shared GTSAM libraries                     : Enabled
--  Put build type in library name                   : Enabled
--  Build libgtsam_unstable                          : Enabled
--  Build GTSAM unstable Python                      : Enabled
--  Build MATLAB Toolbox for unstable                : Disabled
--  Build for native architecture                    : Disabled
--  Build type                                       : Release
--  C compilation flags                              :  -O3 -DNDEBUG
--  C++ compilation flags                            :  -O3 -DNDEBUG
--  Enable Boost serialization                       : ON
--  GTSAM_COMPILE_FEATURES_PUBLIC                    : cxx_std_17
--  GTSAM_COMPILE_OPTIONS_PUBLIC                     : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC                 : 
--  GTSAM_COMPILE_OPTIONS_PUBLIC_RELEASE             : 
--  GTSAM_COMPILE_DEFINITIONS_PUBLIC_RELEASE         : 
--  Use System Eigen                                 : OFF (Using version: 3.4.0)
--  Use System Metis                                 : OFF
--  Using Boost version                              : 1.74.0
--  Use Intel TBB                                    : TBB not found
--  Eigen will use MKL                               : MKL not found
--  Eigen will use MKL and OpenMP                    : OpenMP found but GTSAM_WITH_EIGEN_MKL is disabled
--  Default allocator                                : STL
--  Cheirality exceptions enabled                    : YES
--  Build with ccache                                : No
-- Packaging flags
--  CPack Source Generator                           : TGZ
--  CPack Generator                                  : TGZ
-- GTSAM flags                                               
--  Quaternions as default Rot3                      : Disabled
--  Runtime consistency checking                     : Disabled
--  Build with Memory Sanitizer                      : Disabled
--  Rot3 retract is full ExpMap                      : Enabled
--  Pose3 retract is full ExpMap                     : Enabled
--  Enable branch merging in DecisionTree            : Enabled
--  Enable timing machinery                          : Disabled
--  Allow features deprecated in GTSAM 4.3           : Enabled
--  Metis-based Nested Dissection                    : Enabled
--  Use tangent-space preintegration                 : Enabled
-- MATLAB toolbox flags
--  Install MATLAB toolbox                           : Enabled
--  MATLAB root                                      : /usr/local/MATLAB/R2025b
--  MEX binary                                       : /usr/local/MATLAB/R2025b/bin/glnxa64/mex
-- Python toolbox flags                                      
--  Build Python module with pybind                  : Disabled
-- Extra test flags
--  CTEST_EXTRA_ARGS                                 : 
--  PYTEST_EXTRA_ARGS                                : 
-- ===============================================================
CMake Warning at cmake/HandleFinalChecks.cmake:3 (message):
  TBB 4.4 or newer was not found - this is ok, but note that GTSAM
  parallelization will be disabled.  Set GTSAM_WITH_TBB to 'Off' to avoid
  this warning.
Call Stack (most recent call first):
  CMakeLists.txt:209 (include)


-- Configuring done
-- Generating done

Then when running make install,i got this
[  0%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/b64.c.o
[  0%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/blas.c.o
[  0%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/csr.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/error.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/evaluate.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/fkvkselect.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/fs.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/getopt.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/gkregex.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/graph.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/htable.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/io.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/itemsets.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/mcore.c.o
[  2%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/memory.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/omp.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/pdb.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/pqueue.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/random.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/rw.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/seq.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/sort.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/string.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/timers.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/tokenizer.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/__/GKlib/util.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/auxapi.c.o
[  4%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/balance.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/bucketsort.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/checkgraph.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/coarsen.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/compress.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/contig.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/debug.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/fm.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/fortran.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/frename.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/gklib.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/graph.c.o
[  7%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/initpart.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/kmetis.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/kwayfm.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/kwayrefine.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/mcutil.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/mesh.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/meshpart.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/minconn.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/mincover.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/mmd.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/ometis.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/options.c.o
[  9%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/parmetis.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/pmetis.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/refine.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/separator.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/sfm.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/srefine.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/stat.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/timing.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/util.c.o
[ 11%] Building C object gtsam/3rdparty/metis/libmetis/CMakeFiles/metis-gtsam.dir/wspace.c.o
[ 11%] Linking C shared library libmetis-gtsam.so
[ 11%] Built target metis-gtsam
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/airy.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/bdtr.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/besselpoly.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/beta.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/btdtr.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/cbrt.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/chbevl.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/chdtr.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/const.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/dawsn.c.o
[ 11%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/dd_real.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/ellie.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/ellik.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/ellpe.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/ellpj.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/ellpk.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/erfinv.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/exp10.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/exp2.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/expn.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/fdtr.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/fresnl.c.o
[ 14%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/gamma.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/gammasgn.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/gdtr.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/hyp2f1.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/hyperg.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/i0.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/i1.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/igam.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/igami.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/incbet.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/incbi.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/j0.c.o
[ 16%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/j1.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/jv.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/k0.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/k1.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/kn.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/kolmogorov.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/lanczos.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/nbdtr.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/ndtr.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/ndtri.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/owens_t.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/pdtr.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/poch.c.o
[ 19%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/psi.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/rgamma.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/round.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/sf_error.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/shichi.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/sici.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/sindg.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/sinpi.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/spence.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/stdtr.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/tandg.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/tukey.c.o
[ 21%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/unity.c.o
[ 23%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/yn.c.o
[ 23%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/yv.c.o
[ 23%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/zeta.c.o
[ 23%] Building C object gtsam/3rdparty/cephes/CMakeFiles/cephes-gtsam.dir/cephes/zetac.c.o
[ 23%] Linking C shared library libcephes-gtsam.so
[ 23%] Built target cephes-gtsam
[ 23%] Building CXX object CppUnitLite/CMakeFiles/CppUnitLite.dir/Test.cpp.o
[ 23%] Building CXX object CppUnitLite/CMakeFiles/CppUnitLite.dir/TestRegistry.cpp.o
[ 26%] Building CXX object CppUnitLite/CMakeFiles/CppUnitLite.dir/TestResult.cpp.o
[ 26%] Linking CXX static library libCppUnitLite.a
[ 26%] Built target CppUnitLite
[ 26%] Building C object gtsam/CMakeFiles/gtsam.dir/3rdparty/CCOLAMD/Source/ccolamd.c.o
[ 26%] Building C object gtsam/CMakeFiles/gtsam.dir/3rdparty/SuiteSparse_config/SuiteSparse_config.c.o
[ 26%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/DSFVector.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/Matrix.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/SymmetricBlockMatrix.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/Vector.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/VerticalBlockMatrix.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/cholesky.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/debug.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/timing.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/types.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/base/utilities.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/basis/Basis.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/basis/Chebyshev.cpp.o
[ 28%] Building CXX object gtsam/CMakeFiles/gtsam.dir/basis/Chebyshev2.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/constrained/AugmentedLagrangianOptimizer.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/constrained/ConstrainedOptProblem.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/constrained/InequalityPenaltyFunction.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/constrained/NonlinearEqualityConstraint.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/constrained/NonlinearInequalityConstraint.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/constrained/PenaltyOptimizer.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3Bundler.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3DS2.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3DS2_Base.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3Fisheye.cpp.o
[ 30%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3Unified.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3_S2.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3_S2Stereo.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cal3f.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/CalibratedCamera.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Cyclic.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/EssentialMatrix.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Event.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/FundamentalMatrix.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Gal3.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Kernel.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Line3.cpp.o
[ 33%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/OrientedPlane3.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Point2.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Point3.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Pose2.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Pose3.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Rot2.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Rot3.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Rot3M.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/SL4.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/SO3.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/SO4.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/SOn.cpp.o
[ 35%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Similarity2.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Similarity3.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/SphericalCamera.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/StereoCamera.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/StereoPoint2.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/Unit3.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/geometry/triangulation.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/BayesTree.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/DotWriter.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/EdgeKey.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/Factor.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/Key.cpp.o
[ 38%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/LabeledSymbol.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/Ordering.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/Symbol.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/VariableIndex.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/VariableSlots.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/inference/inferenceExceptions.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicBayesNet.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicBayesTree.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicConditional.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicEliminationTree.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicFactor.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicFactorGraph.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicISAM.cpp.o
[ 40%] Building CXX object gtsam/CMakeFiles/gtsam.dir/symbolic/SymbolicJunctionTree.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/AlgebraicDecisionTree.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DecisionTreeFactor.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteBayesNet.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteBayesTree.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteConditional.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteDistribution.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteEliminationTree.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteFactor.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteFactorGraph.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteJunctionTree.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteKey.cpp.o
[ 42%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteLookupDAG.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteMarginals.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteSearch.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/DiscreteValues.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/Signature.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/SignatureParser.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/TableDistribution.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/discrete/TableFactor.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/DCSAM.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/DiscreteBoundaryFactor.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridBayesNet.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridBayesTree.cpp.o
[ 45%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridConditional.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridEliminationTree.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridFactor.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridFactorGraph.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridGaussianConditional.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridGaussianFactor.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridGaussianFactorGraph.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridGaussianISAM.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridGaussianProductFactor.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridJunctionTree.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridNonlinearFactor.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridNonlinearFactorGraph.cpp.o
[ 47%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridNonlinearISAM.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridSmoother.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/hybrid/HybridValues.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/ConjugateGradientSolver.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/Errors.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianBayesNet.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianBayesTree.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianConditional.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianDensity.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianEliminationTree.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianFactor.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianFactorGraph.cpp.o
[ 50%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianISAM.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/GaussianJunctionTree.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/HessianFactor.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/IterativeSolver.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/JacobianFactor.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/KalmanFilter.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/LossFunctions.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/NoiseModel.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/PCGSolver.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/Preconditioner.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/Sampler.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/Scatter.cpp.o
[ 52%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/SubgraphBuilder.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/SubgraphPreconditioner.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/SubgraphSolver.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/VectorValues.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/iterative.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/linear/linearExceptions.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/BatchFixedLagSmoother.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/CustomFactor.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/DoglegOptimizer.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/DoglegOptimizerImpl.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/FixedLagSmoother.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/GaussNewtonOptimizer.cpp.o
[ 54%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/GraphvizFormatting.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/ISAM2-impl.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/ISAM2.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/ISAM2Clique.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/ISAM2Params.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/IncrementalFixedLagSmoother.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/LevenbergMarquardtOptimizer.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/LevenbergMarquardtParams.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/LinearContainerFactor.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/Marginals.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/NonlinearConjugateGradientOptimizer.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/NonlinearFactor.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/NonlinearFactorGraph.cpp.o
[ 57%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/NonlinearISAM.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/NonlinearOptimizer.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/NonlinearOptimizerParams.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/nonlinear/Values.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/sfm/DsfTrackGenerator.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/sfm/MFAS.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/sfm/SfmData.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/sfm/SfmTrack.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/sfm/ShonanAveraging.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/sfm/ShonanFactor.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/sfm/TranslationRecovery.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/slam/EssentialMatrixConstraint.cpp.o
[ 59%] Building CXX object gtsam/CMakeFiles/gtsam.dir/slam/FrobeniusFactor.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/slam/InitializePose3.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/slam/OrientedPlane3Factor.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/slam/dataset.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/slam/lago.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/AHRSFactor.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/AttitudeFactor.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/BarometricFactor.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/CombinedImuFactor.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/GPSFactor.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/Gal3ImuEKF.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/ImuBias.cpp.o
[ 61%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/ImuFactor.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/ManifoldPreintegration.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/NavState.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/NavStateImuEKF.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/PreintegratedRotation.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/PreintegrationBase.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/PreintegrationParams.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/Scenario.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/ScenarioRunner.cpp.o
[ 64%] Building CXX object gtsam/CMakeFiles/gtsam.dir/navigation/TangentPreintegration.cpp.o
[ 64%] Linking CXX shared library libgtsam.so
[ 64%] Built target gtsam
[ 64%] Building CXX object examples/CMakeFiles/ABC_EQF_Demo.dir/ABC_EQF_Demo.cpp.o
[ 64%] Linking CXX executable ABC_EQF_Demo
[ 64%] Built target ABC_EQF_Demo
[ 64%] Building CXX object examples/CMakeFiles/CameraResectioning.dir/CameraResectioning.cpp.o
[ 64%] Linking CXX executable CameraResectioning
[ 64%] Built target CameraResectioning
[ 64%] Building CXX object examples/CMakeFiles/CombinedImuFactorsExample.dir/CombinedImuFactorsExample.cpp.o
[ 64%] Linking CXX executable CombinedImuFactorsExample
[ 64%] Built target CombinedImuFactorsExample
[ 64%] Building CXX object examples/CMakeFiles/CreateSFMExampleData.dir/CreateSFMExampleData.cpp.o
[ 64%] Linking CXX executable CreateSFMExampleData
[ 64%] Built target CreateSFMExampleData
[ 64%] Building CXX object examples/CMakeFiles/DiscreteBayesNetExample.dir/DiscreteBayesNetExample.cpp.o
[ 64%] Linking CXX executable DiscreteBayesNetExample
[ 64%] Built target DiscreteBayesNetExample
[ 64%] Building CXX object examples/CMakeFiles/DiscreteBayesNet_FG.dir/DiscreteBayesNet_FG.cpp.o
[ 64%] Linking CXX executable DiscreteBayesNet_FG
[ 64%] Built target DiscreteBayesNet_FG
[ 64%] Building CXX object examples/CMakeFiles/EssentialViewGraphExample.dir/EssentialViewGraphExample.cpp.o
[ 64%] Linking CXX executable EssentialViewGraphExample
[ 64%] Built target EssentialViewGraphExample
[ 64%] Building CXX object examples/CMakeFiles/FisheyeExample.dir/FisheyeExample.cpp.o
[ 64%] Linking CXX executable FisheyeExample
[ 64%] Built target FisheyeExample
[ 66%] Building CXX object examples/CMakeFiles/FixedLagSmootherExample.dir/FixedLagSmootherExample.cpp.o
[ 66%] Linking CXX executable FixedLagSmootherExample
[ 66%] Built target FixedLagSmootherExample
[ 66%] Building CXX object examples/CMakeFiles/GEKF_Rot3Example.dir/GEKF_Rot3Example.cpp.o
[ 66%] Linking CXX executable GEKF_Rot3Example
[ 66%] Built target GEKF_Rot3Example
[ 66%] Building CXX object examples/CMakeFiles/GNCExample.dir/GNCExample.cpp.o
[ 66%] Linking CXX executable GNCExample
[ 66%] Built target GNCExample
[ 66%] Building CXX object examples/CMakeFiles/HMMExample.dir/HMMExample.cpp.o
[ 66%] Linking CXX executable HMMExample
[ 66%] Built target HMMExample
[ 66%] Building CXX object examples/CMakeFiles/Hybrid_City10000.dir/Hybrid_City10000.cpp.o
[ 66%] Linking CXX executable Hybrid_City10000
[ 66%] Built target Hybrid_City10000
[ 69%] Building CXX object examples/CMakeFiles/IEKF_NavstateExample.dir/IEKF_NavstateExample.cpp.o
[ 69%] Linking CXX executable IEKF_NavstateExample
[ 69%] Built target IEKF_NavstateExample
[ 69%] Building CXX object examples/CMakeFiles/IEKF_SE2Example.dir/IEKF_SE2Example.cpp.o
[ 69%] Linking CXX executable IEKF_SE2Example
[ 69%] Built target IEKF_SE2Example
[ 69%] Building CXX object examples/CMakeFiles/IMUKittiExampleGPS.dir/IMUKittiExampleGPS.cpp.o
[ 69%] Linking CXX executable IMUKittiExampleGPS
[ 69%] Built target IMUKittiExampleGPS
[ 69%] Building CXX object examples/CMakeFiles/ISAM2Example_SmartFactor.dir/ISAM2Example_SmartFactor.cpp.o
[ 69%] Linking CXX executable ISAM2Example_SmartFactor
[ 69%] Built target ISAM2Example_SmartFactor
[ 69%] Building CXX object examples/CMakeFiles/ISAM2_City10000.dir/ISAM2_City10000.cpp.o
[ 69%] Linking CXX executable ISAM2_City10000
[ 69%] Built target ISAM2_City10000
[ 71%] Building CXX object examples/CMakeFiles/ImuFactorsExample.dir/ImuFactorsExample.cpp.o
[ 71%] Linking CXX executable ImuFactorsExample
[ 71%] Built target ImuFactorsExample
[ 71%] Building CXX object examples/CMakeFiles/ImuFactorsExample2.dir/ImuFactorsExample2.cpp.o
[ 71%] Linking CXX executable ImuFactorsExample2
[ 71%] Built target ImuFactorsExample2
[ 71%] Building CXX object examples/CMakeFiles/IncrementalFixedLagSmootherExample.dir/IncrementalFixedLagSmootherExample.cpp.o
[ 71%] Linking CXX executable IncrementalFixedLagSmootherExample
[ 71%] Built target IncrementalFixedLagSmootherExample
[ 71%] Building CXX object examples/CMakeFiles/InverseKinematicsExampleExpressions.dir/InverseKinematicsExampleExpressions.cpp.o
[ 71%] Linking CXX executable InverseKinematicsExampleExpressions
[ 71%] Built target InverseKinematicsExampleExpressions
[ 71%] Building CXX object examples/CMakeFiles/LocalizationExample.dir/LocalizationExample.cpp.o
[ 71%] Linking CXX executable LocalizationExample
[ 71%] Built target LocalizationExample
[ 71%] Building CXX object examples/CMakeFiles/METISOrderingExample.dir/METISOrderingExample.cpp.o
[ 71%] Linking CXX executable METISOrderingExample
[ 71%] Built target METISOrderingExample
[ 73%] Building CXX object examples/CMakeFiles/NavStateImuExample.dir/NavStateImuExample.cpp.o
[ 73%] Linking CXX executable NavStateImuExample
[ 73%] Built target NavStateImuExample
[ 73%] Building CXX object examples/CMakeFiles/OdometryExample.dir/OdometryExample.cpp.o
[ 73%] Linking CXX executable OdometryExample
[ 73%] Built target OdometryExample
[ 73%] Building CXX object examples/CMakeFiles/PlanarSLAMExample.dir/PlanarSLAMExample.cpp.o
[ 73%] Linking CXX executable PlanarSLAMExample
[ 73%] Built target PlanarSLAMExample
[ 73%] Building CXX object examples/CMakeFiles/Pose2SLAMExample.dir/Pose2SLAMExample.cpp.o
[ 73%] Linking CXX executable Pose2SLAMExample
[ 73%] Built target Pose2SLAMExample
[ 73%] Building CXX object examples/CMakeFiles/Pose2SLAMExampleExpressions.dir/Pose2SLAMExampleExpressions.cpp.o
[ 73%] Linking CXX executable Pose2SLAMExampleExpressions
[ 73%] Built target Pose2SLAMExampleExpressions
[ 73%] Building CXX object examples/CMakeFiles/Pose2SLAMExample_g2o.dir/Pose2SLAMExample_g2o.cpp.o
[ 73%] Linking CXX executable Pose2SLAMExample_g2o
[ 73%] Built target Pose2SLAMExample_g2o
[ 76%] Building CXX object examples/CMakeFiles/Pose2SLAMExample_graph.dir/Pose2SLAMExample_graph.cpp.o
[ 76%] Linking CXX executable Pose2SLAMExample_graph
[ 76%] Built target Pose2SLAMExample_graph
[ 76%] Building CXX object examples/CMakeFiles/Pose2SLAMExample_graphviz.dir/Pose2SLAMExample_graphviz.cpp.o
[ 76%] Linking CXX executable Pose2SLAMExample_graphviz
[ 76%] Built target Pose2SLAMExample_graphviz
[ 76%] Building CXX object examples/CMakeFiles/Pose2SLAMExample_lago.dir/Pose2SLAMExample_lago.cpp.o
[ 76%] Linking CXX executable Pose2SLAMExample_lago
[ 76%] Built target Pose2SLAMExample_lago
[ 76%] Building CXX object examples/CMakeFiles/Pose2SLAMStressTest.dir/Pose2SLAMStressTest.cpp.o
[ 76%] Linking CXX executable Pose2SLAMStressTest
[ 76%] Built target Pose2SLAMStressTest
[ 76%] Building CXX object examples/CMakeFiles/Pose2SLAMwSPCG.dir/Pose2SLAMwSPCG.cpp.o
[ 76%] Linking CXX executable Pose2SLAMwSPCG
[ 76%] Built target Pose2SLAMwSPCG
[ 76%] Building CXX object examples/CMakeFiles/Pose3Localization.dir/Pose3Localization.cpp.o
[ 76%] Linking CXX executable Pose3Localization
[ 76%] Built target Pose3Localization
[ 78%] Building CXX object examples/CMakeFiles/Pose3SLAMExampleExpressions_BearingRangeWithTransform.dir/Pose3SLAMExampleExpressions_BearingRangeWithTransform.cpp.o
[ 78%] Linking CXX executable Pose3SLAMExampleExpressions_BearingRangeWithTransform
[ 78%] Built target Pose3SLAMExampleExpressions_BearingRangeWithTransform
[ 78%] Building CXX object examples/CMakeFiles/Pose3SLAMExample_changeKeys.dir/Pose3SLAMExample_changeKeys.cpp.o
[ 78%] Linking CXX executable Pose3SLAMExample_changeKeys
[ 78%] Built target Pose3SLAMExample_changeKeys
[ 78%] Building CXX object examples/CMakeFiles/Pose3SLAMExample_g2o.dir/Pose3SLAMExample_g2o.cpp.o
[ 78%] Linking CXX executable Pose3SLAMExample_g2o
[ 78%] Built target Pose3SLAMExample_g2o
[ 78%] Building CXX object examples/CMakeFiles/Pose3SLAMExample_initializePose3Chordal.dir/Pose3SLAMExample_initializePose3Chordal.cpp.o
[ 78%] Linking CXX executable Pose3SLAMExample_initializePose3Chordal
[ 78%] Built target Pose3SLAMExample_initializePose3Chordal
[ 78%] Building CXX object examples/CMakeFiles/Pose3SLAMExample_initializePose3Gradient.dir/Pose3SLAMExample_initializePose3Gradient.cpp.o
[ 78%] Linking CXX executable Pose3SLAMExample_initializePose3Gradient
[ 78%] Built target Pose3SLAMExample_initializePose3Gradient
[ 78%] Building CXX object examples/CMakeFiles/RangeISAMExample_plaza2.dir/RangeISAMExample_plaza2.cpp.o
[ 78%] Linking CXX executable RangeISAMExample_plaza2
[ 78%] Built target RangeISAMExample_plaza2
[ 78%] Building CXX object examples/CMakeFiles/SFMExample.dir/SFMExample.cpp.o
[ 80%] Linking CXX executable SFMExample
[ 80%] Built target SFMExample
[ 80%] Building CXX object examples/CMakeFiles/SFMExampleExpressions.dir/SFMExampleExpressions.cpp.o
[ 80%] Linking CXX executable SFMExampleExpressions
[ 80%] Built target SFMExampleExpressions
[ 80%] Building CXX object examples/CMakeFiles/SFMExampleExpressions_bal.dir/SFMExampleExpressions_bal.cpp.o
[ 80%] Linking CXX executable SFMExampleExpressions_bal
[ 80%] Built target SFMExampleExpressions_bal
[ 80%] Building CXX object examples/CMakeFiles/SFMExample_SmartFactor.dir/SFMExample_SmartFactor.cpp.o
[ 80%] Linking CXX executable SFMExample_SmartFactor
[ 80%] Built target SFMExample_SmartFactor
[ 80%] Building CXX object examples/CMakeFiles/SFMExample_SmartFactorPCG.dir/SFMExample_SmartFactorPCG.cpp.o
[ 80%] Linking CXX executable SFMExample_SmartFactorPCG
[ 80%] Built target SFMExample_SmartFactorPCG
[ 80%] Building CXX object examples/CMakeFiles/SFMExample_bal.dir/SFMExample_bal.cpp.o
[ 80%] Linking CXX executable SFMExample_bal
[ 80%] Built target SFMExample_bal
[ 80%] Building CXX object examples/CMakeFiles/SFMExample_bal_COLAMD_METIS.dir/SFMExample_bal_COLAMD_METIS.cpp.o
[ 83%] Linking CXX executable SFMExample_bal_COLAMD_METIS
[ 83%] Built target SFMExample_bal_COLAMD_METIS
[ 83%] Building CXX object examples/CMakeFiles/SelfCalibrationExample.dir/SelfCalibrationExample.cpp.o
[ 83%] Linking CXX executable SelfCalibrationExample
[ 83%] Built target SelfCalibrationExample
[ 83%] Building CXX object examples/CMakeFiles/ShonanAveragingCLI.dir/ShonanAveragingCLI.cpp.o
[ 83%] Linking CXX executable ShonanAveragingCLI
[ 83%] Built target ShonanAveragingCLI
[ 83%] Building CXX object examples/CMakeFiles/SimpleRotation.dir/SimpleRotation.cpp.o
[ 83%] Linking CXX executable SimpleRotation
[ 83%] Built target SimpleRotation
[ 83%] Building CXX object examples/CMakeFiles/SolverComparer.dir/SolverComparer.cpp.o
[ 83%] Linking CXX executable SolverComparer
[ 83%] Built target SolverComparer
[ 83%] Building CXX object examples/CMakeFiles/StereoVOExample.dir/StereoVOExample.cpp.o
[ 83%] Linking CXX executable StereoVOExample
[ 83%] Built target StereoVOExample
[ 83%] Building CXX object examples/CMakeFiles/StereoVOExample_large.dir/StereoVOExample_large.cpp.o
[ 83%] Linking CXX executable StereoVOExample_large
[ 83%] Built target StereoVOExample_large
[ 83%] Building CXX object examples/CMakeFiles/TimeTBB.dir/TimeTBB.cpp.o
[ 85%] Linking CXX executable TimeTBB
[ 85%] Built target TimeTBB
[ 85%] Building CXX object examples/CMakeFiles/TriangulationLOSTExample.dir/TriangulationLOSTExample.cpp.o
[ 85%] Linking CXX executable TriangulationLOSTExample
[ 85%] Built target TriangulationLOSTExample
[ 85%] Building CXX object examples/CMakeFiles/UGM_chain.dir/UGM_chain.cpp.o
[ 85%] Linking CXX executable UGM_chain
[ 85%] Built target UGM_chain
[ 85%] Building CXX object examples/CMakeFiles/UGM_small.dir/UGM_small.cpp.o
[ 85%] Linking CXX executable UGM_small
[ 85%] Built target UGM_small
[ 85%] Building CXX object examples/CMakeFiles/ViewGraphExample.dir/ViewGraphExample.cpp.o
[ 85%] Linking CXX executable ViewGraphExample
[ 85%] Built target ViewGraphExample
[ 85%] Building CXX object examples/CMakeFiles/VisualISAM2Example.dir/VisualISAM2Example.cpp.o
[ 85%] Linking CXX executable VisualISAM2Example
[ 85%] Built target VisualISAM2Example
[ 85%] Building CXX object examples/CMakeFiles/VisualISAMExample.dir/VisualISAMExample.cpp.o
[ 88%] Linking CXX executable VisualISAMExample
[ 88%] Built target VisualISAMExample
[ 88%] Building CXX object examples/CMakeFiles/easyPoint2KalmanFilter.dir/easyPoint2KalmanFilter.cpp.o
[ 88%] Linking CXX executable easyPoint2KalmanFilter
[ 88%] Built target easyPoint2KalmanFilter
[ 88%] Building CXX object examples/CMakeFiles/elaboratePoint2KalmanFilter.dir/elaboratePoint2KalmanFilter.cpp.o
[ 88%] Linking CXX executable elaboratePoint2KalmanFilter
[ 88%] Built target elaboratePoint2KalmanFilter
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/base/Dummy.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/geometry/BearingS2.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/geometry/Pose3Upright.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/geometry/SimPolygon2D.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/geometry/SimWall2D.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/linear/LPInitSolver.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/linear/LPSolver.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/linear/QPSParser.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/linear/QPSolver.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/discrete/AllDiff.cpp.o
[ 88%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/discrete/CSP.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/discrete/Domain.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/discrete/Scheduler.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/discrete/SingleValue.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/dynamics/PoseRTV.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/dynamics/SimpleHelicopter.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/nonlinear/ConcurrentBatchFilter.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/nonlinear/ConcurrentBatchSmoother.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/nonlinear/ConcurrentFilteringAndSmoothing.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/nonlinear/ConcurrentIncrementalFilter.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/nonlinear/ConcurrentIncrementalSmoother.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/nonlinear/LinearizedFactor.cpp.o
[ 90%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/AHRS.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/DummyFactor.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/LocalOrientedPlane3Factor.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/Mechanization_bRn2.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/ProjectionFactorRollingShutter.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/RelativeElevationFactor.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/SmartStereoProjectionFactorPP.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/slam/SmartStereoProjectionPoseFactor.cpp.o
[ 92%] Building CXX object gtsam_unstable/CMakeFiles/gtsam_unstable.dir/partition/GenericGraph.cpp.o
[ 92%] Linking CXX shared library libgtsam_unstable.so
[ 92%] Built target gtsam_unstable
[ 92%] Building CXX object gtsam_unstable/discrete/examples/CMakeFiles/schedulingExample.dir/schedulingExample.cpp.o
[ 92%] Linking CXX executable schedulingExample
[ 92%] Built target schedulingExample
[ 95%] Building CXX object gtsam_unstable/discrete/examples/CMakeFiles/schedulingQuals12.dir/schedulingQuals12.cpp.o
[ 95%] Linking CXX executable schedulingQuals12
[ 95%] Built target schedulingQuals12
[ 95%] Building CXX object gtsam_unstable/discrete/examples/CMakeFiles/schedulingQuals13.dir/schedulingQuals13.cpp.o
[ 95%] Linking CXX executable schedulingQuals13
[ 95%] Built target schedulingQuals13
[ 95%] Building CXX object gtsam_unstable/examples/CMakeFiles/ConcurrentCalibration.dir/ConcurrentCalibration.cpp.o
[ 95%] Linking CXX executable ConcurrentCalibration
[ 95%] Built target ConcurrentCalibration
[ 95%] Building CXX object gtsam_unstable/examples/CMakeFiles/ConcurrentFilteringAndSmoothingExample.dir/ConcurrentFilteringAndSmoothingExample.cpp.o
[ 95%] Linking CXX executable ConcurrentFilteringAndSmoothingExample
[ 95%] Built target ConcurrentFilteringAndSmoothingExample
[ 95%] Building CXX object gtsam_unstable/examples/CMakeFiles/GncPoseAveragingExample.dir/GncPoseAveragingExample.cpp.o
[ 95%] Linking CXX executable GncPoseAveragingExample
[ 95%] Built target GncPoseAveragingExample
[ 95%] Building CXX object gtsam_unstable/examples/CMakeFiles/ISAM2_SmartFactorStereo_IMU.dir/ISAM2_SmartFactorStereo_IMU.cpp.o
[ 95%] Linking CXX executable ISAM2_SmartFactorStereo_IMU
[ 95%] Built target ISAM2_SmartFactorStereo_IMU
[ 95%] Building CXX object gtsam_unstable/examples/CMakeFiles/SmartProjectionFactorExample.dir/SmartProjectionFactorExample.cpp.o
[ 95%] Linking CXX executable SmartProjectionFactorExample
[ 95%] Built target SmartProjectionFactorExample
[ 95%] Building CXX object gtsam_unstable/examples/CMakeFiles/SmartRangeExample_plaza1.dir/SmartRangeExample_plaza1.cpp.o
[ 95%] Linking CXX executable SmartRangeExample_plaza1
[ 95%] Built target SmartRangeExample_plaza1
[ 95%] Building CXX object gtsam_unstable/examples/CMakeFiles/SmartRangeExample_plaza2.dir/SmartRangeExample_plaza2.cpp.o
[ 97%] Linking CXX executable SmartRangeExample_plaza2
[ 97%] Built target SmartRangeExample_plaza2
[ 97%] Building CXX object gtsam_unstable/examples/CMakeFiles/SmartStereoProjectionFactorExample.dir/SmartStereoProjectionFactorExample.cpp.o
[ 97%] Linking CXX executable SmartStereoProjectionFactorExample
[ 97%] Built target SmartStereoProjectionFactorExample
[ 97%] Building CXX object gtsam_unstable/examples/CMakeFiles/TimeOfArrivalExample.dir/TimeOfArrivalExample.cpp.o
[ 97%] Linking CXX executable TimeOfArrivalExample
[ 97%] Built target TimeOfArrivalExample
[ 97%] Generating ../wrap/gtsam/gtsam_wrapper.cpp
[MatlabWrapper] Ignoring classes: ['gtsam::Point2', 'gtsam::Point3', 'gtsam::CustomFactor']
Traceback (most recent call last):
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/scripts/matlab_wrap.py", line 66, in <module>
    cc_content = wrapper.wrap(sources, path=args.out)
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/wrapper.py", line 1928, in wrap
    self.wrap_namespace(module)
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/wrapper.py", line 1178, in wrap_namespace
    self.wrap_namespace(element, False)
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/wrapper.py", line 1194, in wrap_namespace
    class_text = self.wrap_instantiated_class(
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/wrapper.py", line 1065, in wrap_instantiated_class
    self.wrap_class_constructors(
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/wrapper.py", line 690, in wrap_class_constructors
    varargin=self._wrap_variable_arguments(
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/wrapper.py", line 246, in _wrap_variable_arguments
    check_type = self._format_type_name(
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/mixins.py", line 159, in _format_type_name
    self._format_type_name(type_name.instantiations[idx],
  File "/home/tanchang/Desktop/gtsam-release-4.3a1/wrap/gtwrap/matlab_wrapper/mixins.py", line 137, in _format_type_name
    formatted_type_name += self.data_type.get(name) or name
TypeError: unhashable type: 'Typename'
make[2]: *** [matlab/CMakeFiles/gtsam_matlab_wrapper.dir/build.make:88: wrap/gtsam/gtsam_wrapper.cpp] Error 1
make[1]: *** [CMakeFiles/Makefile2:36207: matlab/CMakeFiles/gtsam_matlab_wrapper.dir/all] Error 2
make: *** [Makefile:166: all] Error 2

It seems to be related to gtsam version
4.2 has the same problem while 4.1 is ok

[dellaert]

Is this with develop?

[dellaert]

If not, could you try checking out develop? CI is run every day on 22.04...

[yangkees]

If not, could you try checking out develop? CI is run every day on 22.04...

I tried the develop,and got another error：

[ 68%] Building CXX object examples/CMakeFiles/AbcEquivariantFilterExample.dir/AbcEquivariantFilterExample.cpp.o
/home/tanchang/Desktop/gtsam-develop/examples/AbcEquivariantFilterExample.cpp: In function ‘void processDataWithEqF(EqFilter&, const std::vector<Data>&, int)’:
/home/tanchang/Desktop/gtsam-develop/examples/AbcEquivariantFilterExample.cpp:254:21: error: ‘std::chrono’ has not been declared
  254 |   auto start = std::chrono::high_resolution_clock::now();
      |                     ^~~~~~
/home/tanchang/Desktop/gtsam-develop/examples/AbcEquivariantFilterExample.cpp:336:19: error: ‘std::chrono’ has not been declared
  336 |   auto end = std::chrono::high_resolution_clock::now();
      |                   ^~~~~~
/home/tanchang/Desktop/gtsam-develop/examples/AbcEquivariantFilterExample.cpp:337:8: error: ‘std::chrono’ has not been declared
  337 |   std::chrono::duration<double> elapsed = end - start;
      |        ^~~~~~
/home/tanchang/Desktop/gtsam-develop/examples/AbcEquivariantFilterExample.cpp:337:25: error: expected primary-expression before ‘double’
  337 |   std::chrono::duration<double> elapsed = end - start;
      |                         ^~~~~~
/home/tanchang/Desktop/gtsam-develop/examples/AbcEquivariantFilterExample.cpp:368:39: error: ‘elapsed’ was not declared in this scope
  368 |   std::cout << "Processing time: " << elapsed.count() << " seconds"
      |                                       ^~~~~~~
make[2]: *** [examples/CMakeFiles/AbcEquivariantFilterExample.dir/build.make:76: examples/CMakeFiles/AbcEquivariantFilterExample.dir/AbcEquivariantFilterExample.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:25680: examples/CMakeFiles/AbcEquivariantFilterExample.dir/all] Error 2
make: *** [Makefile:166: all] Error 2

tried adding #include in the AbcEquivariantFilterExample.cpp and it worked
then rebuild untill i got not the same but similar wrapper error

[100%] Generating ../wrap/gtsam/gtsam_wrapper.cpp
[MatlabWrapper] Ignoring classes: ['gtsam::Point2', 'gtsam::Point3', 'gtsam::CustomFactor']
Traceback (most recent call last):
  File "/home/tanchang/Desktop/gtsam-develop/wrap/scripts/matlab_wrap.py", line 66, in <module>
    cc_content = wrapper.wrap(sources, path=args.out)
  File "/home/tanchang/Desktop/gtsam-develop/wrap/gtwrap/matlab_wrapper/wrapper.py", line 1919, in wrap
    parsed_result = parser.Module.parseString(content)
  File "/home/tanchang/Desktop/gtsam-develop/wrap/gtwrap/interface_parser/module.py", line 56, in parseString
    return Module.rule.parseString(s)[0]
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1943, in parseString
    loc, tokens = self._parse(instring, 0)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4052, in parseImpl
    loc, resultlist = self.exprs[0]._parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4781, in parseImpl
    return super(ZeroOrMore, self).parseImpl(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4697, in parseImpl
    loc, tokens = self_expr_parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4164, in parseImpl
    loc2, toks = expr1._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4462, in parseImpl
    return self.expr._parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4069, in parseImpl
    loc, exprtokens = e._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4781, in parseImpl
    return super(ZeroOrMore, self).parseImpl(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4707, in parseImpl
    loc, tmptokens = self_expr_parse(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4164, in parseImpl
    loc2, toks = expr1._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4462, in parseImpl
    return self.expr._parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4069, in parseImpl
    loc, exprtokens = e._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4781, in parseImpl
    return super(ZeroOrMore, self).parseImpl(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4707, in parseImpl
    loc, tmptokens = self_expr_parse(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4164, in parseImpl
    loc2, toks = expr1._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4069, in parseImpl
    loc, exprtokens = e._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4849, in parseImpl
    loc, tokens = self.expr._parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4069, in parseImpl
    loc, exprtokens = e._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4781, in parseImpl
    return super(ZeroOrMore, self).parseImpl(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4697, in parseImpl
    loc, tokens = self_expr_parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4069, in parseImpl
    loc, exprtokens = e._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4052, in parseImpl
    loc, resultlist = self.exprs[0]._parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4164, in parseImpl
    loc2, toks = expr1._parse(instring, loc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1683, in _parseNoCache
    loc, tokens = self.parseImpl(instring, preloc, doActions)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 4462, in parseImpl
    return self.expr._parse(instring, loc, doActions, callPreParse=False)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1844, in _parseCache
    value = self._parseNoCache(instring, loc, doActions, callPreParse)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1716, in _parseNoCache
    tokens = fn(instring, tokensStart, retTokens)
  File "/usr/lib/python3/dist-packages/pyparsing.py", line 1316, in wrapper
    ret = func(*args[limit[0]:])
  File "/home/tanchang/Desktop/gtsam-develop/wrap/gtwrap/interface_parser/type.py", line 286, in <lambda>
    ).setParseAction(lambda t: TemplatedType.from_parse_result(t))
  File "/home/tanchang/Desktop/gtsam-develop/wrap/gtwrap/interface_parser/type.py", line 305, in from_parse_result
    return TemplatedType(t.typename, t.template_params.as_list(),
TypeError: 'str' object is not callable
make[2]: *** [matlab/CMakeFiles/gtsam_matlab_wrapper.dir/build.make:88: wrap/gtsam/gtsam_wrapper.cpp] Error 1
make[1]: *** [CMakeFiles/Makefile2:37114: matlab/CMakeFiles/gtsam_matlab_wrapper.dir/all] Error 2
make: *** [Makefile:166: all] Error 2

[dellaert]

@yangkees please give us more information about your compiler, matlab version. We do build examples on ubuntu 22.04, but admittedly only with clang 14.

Also, what is your python version and pyparsing version? I suspect the error might go away if you upgrade to the latest version of pyparsing (>=3.0)

@varunagrawal this last wrapper error might be because as_list might only be available in newer versions of pyparsing. That combined with a workaround you made in wrap PR 54 led to the error (according to gemini):

   1. The Call: The code attempts to call t.template_params.as_list(). t.template_params is a pyparsing.ParseResults object.
   2. Missing Method: In older versions of pyparsing (pre-3.0, often found on systems like Ubuntu 20.04), the method as_list does not exist. The
      correct method name was only asList.
   3. The Monkey Patch: When Python cannot find a method or attribute, it looks for a __getattr__ method. Your codebase patches ParseResults with
      this custom logic:

   1     # wrap/gtwrap/interface_parser/__init__.py
   2     def fixed_get_attr(self, item):
   3         # ... checks ...
   4         try:
   5             return self[item]
   6         except KeyError:
   7             return ""  # <--- DANGER
   4. The Interception:
       * Python looks for as_list, fails to find it, and calls fixed_get_attr(self, 'as_list').
       * The function tries to find a parse token named "as_list" (`self['as_list']`).
       * It fails (KeyError), catches the error, and returns an empty string ("").
   5. The Crash: The original code t.template_params.as_list() now evaluates to ""(). Trying to call a string like a function raises TypeError:
      'str' object is not callable.

So, on wrap we probably want to specify a version of pyparsing and make sure we check for it. The above workaround might also be no longer needed.
As an aside, https://github.com/borglab/gtsam/tree/develop/matlab/README.md does not mention python or pyparsing at all.

[varunagrawal]

The pyparsing dependency is mentioned on the wrap folder README.

The reason I used as_list instead of asList is because the latter is deprecated moving forward, so this would come back to bite us later.

It is easier (and better) to have users upgrade pyparsing or specify the minimum version in the pyproject.toml file.

[varunagrawal]

Gemini also says this in your comment:

Missing Method: In older versions of pyparsing (pre-3.0, often found on systems like Ubuntu 20.04), the method as_list does not exist. The
      correct method name was only asList.

Which isn't applicable here since this is Ubuntu 22.04. This is an incorrect AI recommendation unfortunately.

[varunagrawal]

I'm a little confused since the pyproject.toml enforces pyparsing 3.2.5 and greater.

gtsam/wrap/pyproject.toml

Line 29 in 413e196

"pyparsing>=3.2.5",

I want to make a guess that it is probably something because the master branch was used first and then the develop branch?

[yangkees]

@dellaert
Thanks a lot for your comment

gcc-9 (9.5.0)
matlab2024b
ubuntu22.04.5lts in VM
python3.10.12
pyparsing3.3.2
I aslo tried gcc-11 (11.4.0），it has the same error

edit：
using clang14.0.0,and having another error
[ 90%] Building CXX object examples/CMakeFiles/elaboratePoint2KalmanFilter.dir/elaboratePoint2KalmanFilter.cpp.o /home/tanchang/Desktop/gtsam-develop/examples/elaboratePoint2KalmanFilter.cpp:363:42: error: unused variable 'updatedConditional3' [-Werror,-Wunused-variable] const GaussianConditional::shared_ptr& updatedConditional3 = updatedBayesNet3->back(); ^ error: error opening 'CMakeFiles/elaboratePoint2KalmanFilter.dir/elaboratePoint2KalmanFilter.cpp.o.d': Permission denied 2 errors generated. make[2]: *** [examples/CMakeFiles/elaboratePoint2KalmanFilter.dir/build.make:76: examples/CMakeFiles/elaboratePoint2KalmanFilter.dir/elaboratePoint2KalmanFilter.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:28994: examples/CMakeFiles/elaboratePoint2KalmanFilter.dir/all] Error 2 make: *** [Makefile:166: all] Error 2

[dellaert]

Ok, thanks! We don’t build CI with examples except in one or two runs, so might break on some platforms. I’ll add a PR to fix those two issues.

But for Python, I’m very confused now, as
https://github.com/borglab/gtsam/actions/runs/21233111095/job/61096353021
shows all is fine on 22.04, with gcc11 - at least on develop. And with your pyparsing version - it should just work.

[varunagrawal]

@yangkees can you please do a clean rebuild with the proper pyparsing version? Curious to hear if you still have this issue.