Errors in ROS melodic

Question

Errors in ROS melodic

geothan opened this issue 5 years ago · 4 comments

i have already installed Sophus, Fast and g2o from:
https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-ROS
and i tried to build CNN-SVO, but during compilation i get these errors, could someone give me a hint?
How did you manage to build this project?

`-----------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/george/catkin_ws

Build Space: [exists] /home/george/catkin_ws/build
Devel Space: [exists] /home/george/catkin_ws/devel
Install Space: [unused] /home/george/catkin_ws/install
Log Space: [missing] /home/george/catkin_ws/logs
Source Space: [exists] /home/george/catkin_ws/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '8' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.6 seconds ]
Starting >>> rqt_svo
Starting >>> svo_analysis
Starting >>> svo_msgs
Starting >>> vikit_common
Starting >>> vikit_py
Finished <<< svo_analysis [ 2.4 seconds ]
Finished <<< rqt_svo [ 2.5 seconds ]

Warnings << vikit_common:cmake /home/george/catkin_ws/logs/vikit_common/build.cmake.000.log
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'Sophus' but neither 'Sophus_INCLUDE_DIRS' nor
'Sophus_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:30 (catkin_package)

cd /home/george/catkin_ws/build/vikit_common; catkin build --get-env vikit_common | catkin env -si /usr/bin/cmake /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/george/catkin_ws/devel/.private/vikit_common -DCMAKE_INSTALL_PREFIX=/home/george/catkin_ws/install; cd -
.........................................................................................................................................................................................
Finished <<< vikit_py [ 2.7 seconds ]
Finished <<< svo_msgs [ 3.9 seconds ]

Errors << vikit_common:make /home/george/catkin_ws/logs/vikit_common/build.make.000.log
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:12,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols> class Eigen::Matrix

class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:12,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:19,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z *focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:37:3: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
Sophus::SE3 T; //!< second from first
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:37:3: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:75:3: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
SE3 T_c2_from_c1; //!< Relative translation and rotation of two images
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:75:3: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/math_utils.cpp.o] Error 1
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:13,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:18,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z *focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:51:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, D> H; //!< Hessian approximation
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:52:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, 1> Jres; //!< Jacobian x Residual
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:53:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, 1> x; //!< update step
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:56:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, D> I_prior; //!< Prior information matrix (inverse covariance)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:154:13: error: reference to ‘Matrix’ is ambiguous
const Matrix<double, D, D>& Information);
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:154:19: error: expected ‘,’ or ‘...’ before ‘<’ token
const Matrix<double, D, D>& Information);
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:163:9: error: reference to ‘Matrix’ is ambiguous
const Matrix<double, D, D>& getInformationMatrix() const;
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:168:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: In member function ‘void vk::NLLSSolver<D, T>::optimizeGaussNewton(vk::NLLSSolver<D, T>::ModelType&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:40:5: error: ‘H’ was not declared in this scope
H.setZero();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:41:5: error: ‘Jres’ was not declared in this scope
Jres.setZero();
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:90:51: error: ‘x’ was not declared in this scope
<< "\t x_norm = " << vk::norm_max(x)
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:97:21: error: ‘x’ was not declared in this scope
if(vk::norm_max(x)<=eps)
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: In member function ‘void vk::NLLSSolver<D, T>::optimizeLevenbergMarquardt(vk::NLLSSolver<D, T>::ModelType&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:127:41: error: there are no arguments to ‘H’ that depend on a template parameter, so a declaration of ‘H’ must be available [-fpermissive]
H_max_diag = max(H_max_diag, fabs(H(j,j)));
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:127:41: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:144:7: error: ‘H’ was not declared in this scope
H.setZero();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:146:7: error: ‘Jres’ was not declared in this scope
Jres.setZero();
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:184:30: error: ‘x’ was not declared in this scope
stop = vk::norm_max(x)<=eps;
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:291:11: error: reference to ‘Matrix’ is ambiguous
const Matrix<double, D, D>& Information)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:168:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:291:17: error: expected ‘,’ or ‘...’ before ‘<’ token
const Matrix<double, D, D>& Information)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: In member function ‘void vk::NLLSSolver<D, T>::setPrior(const T&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:295:3: error: ‘I_prior’ was not declared in this scope
I_prior = Information;
^~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:295:3: note: suggested alternative: ‘prior’
I_prior = Information;
^~~~~~~~
prior
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:295:14: error: ‘Information’ was not declared in this scope
I_prior = Information;
^~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:318:14: error: reference to ‘Matrix’ is ambiguous
inline const vk::Matrix<double, D, D>& vk::NLLSSolver<D, T>::getInformationMatrix() const
^~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:22:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:31:57: error: type/value mismatch at argument 2 in template parameter list for ‘template<int D, class T> class vk::NLLSSolver’
class ForwardCompositionalSE3 : public NLLSSolver<6, SE3> {
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:31:57: note: expected a type, got ‘SE3’
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:48:27: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale = false);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:48:27: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:22:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:54:16: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:54:39: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:71:28: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:76:28: error: ‘Method’ has not been declared
Method method = LevenbergMarquardt,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:89:28: error: ‘Method’ has not been declared
Method method = LevenbergMarquardt,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:93:19: error: ‘SE3’ is not a type
runOptimization(SE3& model, int levelBegin = -1, int levelEnd = -1);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:76:44: error: ‘LevenbergMarquardt’ was not declared in this scope
Method method = LevenbergMarquardt,
^~~~~~~~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:89:44: error: ‘LevenbergMarquardt’ was not declared in this scope
Method method = LevenbergMarquardt,
^~~~~~~~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:99:60: error: type/value mismatch at argument 2 in template parameter list for ‘template<int D, class T> class vk::NLLSSolver’
class SecondOrderMinimisationSE3 : public NLLSSolver<6, SE3> {
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:99:60: note: expected a type, got ‘SE3’
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:117:27: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale = false);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:117:27: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:22:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:123:16: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:123:39: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:142:31: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:147:31: error: ‘Method’ has not been declared
Method method = LevenbergMarquardt,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:147:47: error: ‘LevenbergMarquardt’ was not declared in this scope
Method method = LevenbergMarquardt,
^~~~~~~~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:37:26: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:42:26: error: ‘Method’ has not been declared
Method method,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In constructor ‘vk::ForwardCompositionalSE3::ForwardCompositionalSE3(std::vectorvk::PinholeCamera&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, int&, int, int, float, bool, int, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:54:3: error: ‘n_iter’ was not declared in this scope
n_iter = n_iter;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:54:3: note: suggested alternative: ‘n_iter’
n_iter = n_iter;
^~~~~~~
n_iter
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:55:3: error: ‘method’ was not declared in this scope
method = method;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:55:3: note: suggested alternative: ‘method’
method = method;
^~~~~~~
method
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:86:26: error: ‘Method’ has not been declared
Method method,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In constructor ‘vk::ForwardCompositionalSE3::ForwardCompositionalSE3(std::vectorvk::PinholeCamera&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, int, int, float, bool, int, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:98:3: error: ‘n_iter’ was not declared in this scope
n_iter = n_iter;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:98:3: note: suggested alternative: ‘n_iter’
n_iter = n_iter;
^~~~~~~
n_iter
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:99:3: error: ‘method’ was not declared in this scope
method = method;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:99:3: note: suggested alternative: ‘method’
method = method;
^~~~~~~
method
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:17: error: variable or field ‘runOptimization’ declared void
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:20: error: missing template arguments before ‘&’ token
runOptimization(SE3& model, int levelBegin, int levelEnd)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:22: error: ‘model’ was not declared in this scope
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:22: note: suggested alternative: ‘modfl’
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~~~
modfl
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:29: error: expected primary-expression before ‘int’
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:45: error: expected primary-expression before ‘int’
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:136:25: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:136:25: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o] Error 1
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual double vk::ForwardCompositionalSE3::computeResiduals(const int&, bool, bool)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:178:11: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> frame_jac;
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:178:18: error: expected primary-expression before ‘double’
Matrix<double,2,6> frame_jac;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:179:59: error: ‘frame_jac’ was not declared in this scope
frameJac_xyz2uv(xyz_img, cam_pyr[level].fx(), frame_jac);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:185:11: error: ‘H’ was not declared in this scope
H += JJ.transpose();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:186:11: error: ‘Jres’ was not declared in this scope
Jres += Jres;
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:186:11: note: suggested alternative: ‘res’
Jres += Jres;
^~~~~
res
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::calcFromPlaneParams(const Vector3d&, const Vector3d&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:34:18: error: ‘T_c2_from_c1’ was not declared in this scope
H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
^~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:34:18: note: suggested alternative: ‘H_c2_from_c1’
H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
^~~~~~~~~~~~
H_c2_from_c1
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual int vk::ForwardCompositionalSE3::solve()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:200:3: error: ‘x’ was not declared in this scope
x = H.ldlt().solve(-Jres);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:200:8: error: ‘H’ was not declared in this scope
x = H_.ldlt().solve(-Jres_);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:200:25: error: ‘Jres_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:207:14: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:207:37: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual void vk::ForwardCompositionalSE3::update(const int&, int&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:209:15: error: ‘template<class Scalar_, int Options> class Sophus::SE3’ used without template parameters
new_model = SE3::exp(x_)(old_model);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:209:24: error: ‘x_’ was not declared in this scope
new_model = SE3::exp(x_)(old_model);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:255:29: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:260:29: error: ‘Method’ has not been declared
Method method,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In constructor ‘vk::SecondOrderMinimisationSE3::SecondOrderMinimisationSE3(std::vectorvk::PinholeCamera&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, int&, int, int, float, bool, int, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:274:3: error: ‘n_iter_’ was not declared in this scope
n_iter_ = n_iter;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:274:3: note: suggested alternative: ‘n_iter’
n_iter_ = n_iter;
^~~~~~~
n_iter
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:275:3: error: ‘method_’ was not declared in this scope
method_ = method;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:275:3: note: suggested alternative: ‘method’
method_ = method;
^~~~~~~
method
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:276:3: error: ‘verbose_’ was not declared in this scope
verbose_ = false;
^~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:276:3: note: suggested alternative: ‘permon_’
verbose_ = false;
^~~~~~~~
permon_
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:297:5: error: ‘mu_’ was not declared in this scope
mu_ = 0.01f;
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:304:5: error: ‘optimize’ was not declared in this scope
optimize(init_model);
^~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘bool vk::Homography::computeSE3fromMatches()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:86:3: error: ‘T_c2_from_c1’ was not declared in this scope
T_c2_from_c1 = decompositions.front().T;
^~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:304:5: note: suggested alternative: ‘optind’
optimize(init_model);
^~~~~~~~
optind
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:86:3: note: suggested alternative: ‘H_c2_from_c1’
T_c2_from_c1 = decompositions.front().T;
^~~~~~~~~~~~
H_c2_from_c1
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:86:41: error: ‘__gnu_cxx::_alloc_traits<std::allocatorvk::HomographyDecomposition >::value_type {aka struct vk::HomographyDecomposition}’ has no member named ‘T’
T_c2_from_c1 = decompositions.front().T;
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:309:25: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:309:25: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual double vk::SecondOrderMinimisationSE3::computeResiduals(const int&, bool, bool)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:379:11: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> frame_jac;
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:379:18: error: expected primary-expression before ‘double’
Matrix<double,2,6> frame_jac;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:380:59: error: ‘frame_jac’ was not declared in this scope
frameJac_xyz2uv(xyz_tpl, cam_pyr[level].fx(), frame_jac);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:386:11: error: ‘H’ was not declared in this scope
H += JJ.transpose();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:387:11: error: ‘Jres_’ was not declared in this scope
Jres_ += Jres;
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:387:11: note: suggested alternative: ‘res’
Jres_ += Jres;
^~~~~
res
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual int vk::SecondOrderMinimisationSE3::solve()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:400:3: error: ‘x_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:400:8: error: ‘H_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:400:25: error: ‘Jres_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:407:14: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:407:37: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual void vk::SecondOrderMinimisationSE3::update(const int&, int&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:409:15: error: ‘template<class Scalar_, int Options> class Sophus::SE3’ used without template parameters
new_model = SE3::exp(x_)*old_model;
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:409:24: error: ‘x_’ was not declared in this scope
new_model = SE3::exp(x_)*old_model;
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘bool vk::Homography::decompose()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:198:23: error: ‘__gnu_cxx::__alloc_traits<std::allocatorvk::HomographyDecomposition >::value_type {aka struct vk::HomographyDecomposition}’ has no member named ‘T’
decompositions[i].T = Sophus::SE3(R, t);
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:198:38: error: missing template arguments before ‘(’ token
decompositions[i].T = Sophus::SE3(R, t);
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::findBestDecomposition()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:262:19: error: missing template arguments before ‘T’
Sophus::SE3 T = decompositions[i].T;
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:263:28: error: ‘T’ was not declared in this scope
Matrix3d Essential = T.rotation_matrix() * sqew(T.translation());
^
make[2]: *** [CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o] Error 1
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:15:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:15:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/pinhole_camera.h:13,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:15:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z *focal_length;
^~~~~~~~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/img_align.cpp.o] Error 1
make[2]: *** [CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o] Error 1
make[2]: *** [CMakeFiles/vikit_common.dir/src/homography.cpp.o] Error 1
make[1]: *** [CMakeFiles/vikit_common.dir/all] Error 2
make: *** [all] Error 2
cd /home/george/catkin_ws/build/vikit_common; catkin build --get-env vikit_common | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
.........................................................................................................................................................................................
Failed << vikit_common:make [ Exited with code 2 ]
Failed <<< vikit_common [ 9.5 seconds ]
Abandoned <<< vikit_ros [ Unrelated job failed ]
Abandoned <<< svo [ Unrelated job failed ]
Abandoned <<< svo_ros [ Unrelated job failed ]
[build] Summary: 5 of 9 packages succeeded.
[build] Ignored: None.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: 3 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 11.3 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
`

Answer 1 · 2020-02-12T23:18:01.000Z

I ran catkin_make to build the project. Try to remove 'devel' and 'build' folders and do catkin_make again.

Answer 2 · 2020-02-20T10:44:03.000Z

i reinstalled everything from scratch and tried catkin_make. Now, i get fatal error: monodepth/monodepth.h: No such file or directory
#include <monodepth/monodepth.h>. How can i fix it? Should i build monodepth-cpp separately outside of catkin?

george@ubuntu:~/catkin_ws$ catkin_make
Base path: /home/george/catkin_ws
Source space: /home/george/catkin_ws/src
Build space: /home/george/catkin_ws/build
Devel space: /home/george/catkin_ws/devel
Install space: /home/george/catkin_ws/install
Creating symlink "/home/george/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"

Running command: "make cmake_check_build_system" in "/home/george/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/george/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/george/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 8 packages in topological order:
-- ~~ - rqt_svo
-- ~~ - svo_analysis
-- ~~ - svo_msgs
-- ~~ - vikit_common
-- ~~ - vikit_py
-- ~~ - vikit_ros
-- ~~ - svo
-- ~~ - svo_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'rqt_svo'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/rqt_svo)
-- +++ processing catkin package: 'svo_analysis'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_analysis)
-- +++ processing catkin package: 'svo_msgs'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- svo_msgs: 4 messages, 0 services
-- +++ processing catkin package: 'vikit_common'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_common)
-- Eigen found (include: /usr/include/eigen3)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'vikit_py'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_py)
-- +++ processing catkin package: 'vikit_ros'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_ros)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/melodic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
The FindEigen.cmake Module in the cmake_modules package is deprecated.

Please use the FindEigen3.cmake Module provided with Eigen. Change
instances of find_package(Eigen) to find_package(Eigen3). Check the
FindEigen3.cmake Module for the resulting CMake variable names.

Call Stack (most recent call first):
CNN-SVO/rpg_vikit/vikit_ros/CMakeLists.txt:21 (FIND_PACKAGE)

-- Eigen found (include: /usr/include/eigen3)
-- +++ processing catkin package: 'svo'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo)
-- Eigen found (include: /usr/include/eigen3)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- thread
-- system
-- chrono
-- date_time
-- atomic
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'svo_ros'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_ros)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/melodic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
The FindEigen.cmake Module in the cmake_modules package is deprecated.

Please use the FindEigen3.cmake Module provided with Eigen. Change
instances of find_package(Eigen) to find_package(Eigen3). Check the
FindEigen3.cmake Module for the resulting CMake variable names.

Call Stack (most recent call first):
CNN-SVO/rpg_svo/svo_ros/CMakeLists.txt:51 (FIND_PACKAGE)

-- Eigen found (include: /usr/include/eigen3)
-- Boost version: 1.65.1
-- Found the following Boost libraries:
-- thread
-- chrono
-- system
-- date_time
-- atomic
-- Configuring done
-- Generating done
-- Build files have been written to: /home/george/catkin_ws/build

Running command: "make -j8 -l8" in "/home/george/catkin_ws/build"

[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target _svo_msgs_generate_messages_check_deps_DenseInput
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target _svo_msgs_generate_messages_check_deps_NbvTrajectory
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target _svo_msgs_generate_messages_check_deps_Feature
[ 0%] Built target _svo_msgs_generate_messages_check_deps_Info
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_eus
Scanning dependencies of target vikit_common
[ 1%] Generating C++ code from svo_msgs/Info.msg
[ 2%] Generating C++ code from svo_msgs/Feature.msg
[ 4%] Generating C++ code from svo_msgs/DenseInput.msg
[ 5%] Generating Javascript code from svo_msgs/Info.msg
[ 6%] Generating Lisp code from svo_msgs/Info.msg
[ 8%] Generating Python from MSG svo_msgs/Info
[ 9%] Generating EusLisp code from svo_msgs/Info.msg
[ 10%] Generating Lisp code from svo_msgs/Feature.msg
[ 12%] Generating Javascript code from svo_msgs/Feature.msg
[ 13%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o
[ 14%] Generating EusLisp code from svo_msgs/Feature.msg
[ 16%] Generating Lisp code from svo_msgs/DenseInput.msg
[ 17%] Generating Javascript code from svo_msgs/DenseInput.msg
[ 18%] Generating Python from MSG svo_msgs/Feature
[ 20%] Generating Python from MSG svo_msgs/DenseInput
[ 21%] Generating C++ code from svo_msgs/NbvTrajectory.msg
[ 24%] Generating Javascript code from svo_msgs/NbvTrajectory.msg
[ 24%] Generating Lisp code from svo_msgs/NbvTrajectory.msg
[ 25%] Generating Python from MSG svo_msgs/NbvTrajectory
[ 27%] Generating EusLisp code from svo_msgs/DenseInput.msg
[ 27%] Built target svo_msgs_generate_messages_lisp
[ 27%] Built target svo_msgs_generate_messages_nodejs
[ 28%] Generating EusLisp code from svo_msgs/NbvTrajectory.msg
[ 29%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o
[ 31%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o
[ 32%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/vision.cpp.o
[ 33%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/performance_monitor.cpp.o
[ 35%] Generating Python msg init.py for svo_msgs
[ 36%] Built target svo_msgs_generate_messages_eus
[ 36%] Built target svo_msgs_generate_messages_cpp
[ 37%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o
[ 39%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/user_input_thread.cpp.o
[ 39%] Built target svo_msgs_generate_messages_py
[ 39%] Built target svo_msgs_generate_messages
[ 40%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o
[ 41%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o
[ 43%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o
[ 44%] Linking CXX shared library /home/george/catkin_ws/devel/lib/libvikit_common.so
[ 44%] Built target vikit_common
Scanning dependencies of target test_vk_common_triangulation
Scanning dependencies of target test_vk_common_camera
Scanning dependencies of target test_vk_common_patch_score
Scanning dependencies of target vikit_ros
[ 45%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_patch_score.dir/test/test_patch_score.cpp.o
[ 47%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_camera.dir/test/test_camera.cpp.o
[ 48%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_triangulation.dir/test/test_triangulation.cpp.o
[ 50%] Building CXX object CNN-SVO/rpg_vikit/vikit_ros/CMakeFiles/vikit_ros.dir/src/output_helper.cpp.o
[ 51%] Linking CXX executable /home/george/catkin_ws/devel/lib/vikit_common/test_vk_common_patch_score
[ 51%] Built target test_vk_common_patch_score
[ 52%] Linking CXX executable /home/george/catkin_ws/devel/lib/vikit_common/test_vk_common_camera
[ 54%] Linking CXX executable /home/george/catkin_ws/devel/lib/vikit_common/test_vk_common_triangulation
[ 54%] Built target test_vk_common_camera
[ 54%] Built target test_vk_common_triangulation
[ 55%] Linking CXX shared library /home/george/catkin_ws/devel/lib/libvikit_ros.so
[ 55%] Built target vikit_ros
Scanning dependencies of target svo
[ 58%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_base.cpp.o
[ 59%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_mono.cpp.o
[ 59%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_monodepth.cpp.o
[ 60%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame.cpp.o
[ 62%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/map.cpp.o
[ 63%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/point.cpp.o
[ 64%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/pose_optimizer.cpp.o
[ 66%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/initialization.cpp.o
[ 67%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/initialization_monodepth.cpp.o
[ 68%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/matcher.cpp.o
[ 70%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/reprojector.cpp.o
[ 71%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/feature_alignment.cpp.o
[ 72%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/feature_detection.cpp.o
[ 74%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/depth_filter.cpp.o
[ 75%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/config.cpp.o
[ 77%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/sparse_img_align.cpp.o
[ 78%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/bundle_adjustment.cpp.o
make[2]: *** No rule to make target '/home/george/catkin_ws/src/CNN-VO/monodepth/install/lib/libmonodepth_static.a', needed by '/home/george/catkin_ws/devel/lib/libsvo.so'. Stop.
make[2]: *** Waiting for unfinished jobs....
[ 79%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_online.cpp.o
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_svo/svo/src/frame_handler_online.cpp:18:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_svo/svo/include/svo/frame_handler_online.h:26:10: fatal error: monodepth/monodepth.h: No such file or directory
#include <monodepth/monodepth.h>
^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/build.make:470: recipe for target 'CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_online.cpp.o' failed
make[2]: *** [CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_online.cpp.o] Error 1
CMakeFiles/Makefile2:2940: recipe for target 'CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/all' failed
make[1]: *** [CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Answer 3 · 2020-06-21T22:38:08.000Z

Sorry for the late reply.

You should build the monodepth-cpp library separately and then link your svo library to the monodepth-cpp library.

Answer 4 · 2021-10-20T12:57:08.000Z

@geothan did you solve this problem ?
I'm stuck at exactly the same problem as you, in ROS melodic + Ubuntu 18.04.
any update so far .. ?

`----------------------------------------------------------- Profile: default Extending: [env] /opt/ros/melodic Workspace: /home/george/catkin_ws

Build Space: [exists] /home/george/catkin_ws/build Devel Space: [exists] /home/george/catkin_ws/devel Install Space: [unused] /home/george/catkin_ws/install Log Space: [missing] /home/george/catkin_ws/logs Source Space: [exists] /home/george/catkin_ws/src DESTDIR: [unused] None

Devel Space Layout: linked Install Space Layout: None

Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False

Whitelisted Packages: None Blacklisted Packages: None