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MIT-SPARK / Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
BSD 2-Clause "Simplified" License
1.53k stars 416 forks source link

error while compilng kimera-vio[BUG] #194

Closed BIT-TYJ closed 1 year ago

BIT-TYJ commented 1 year ago

Hello, thanks for your great work! I have run Hydra without kimera-vio successfully. However, when I added kimera-vio and tried to compile it, the following error occurred. Describe the bug 'identity' is not a member of ’gtsam::Pose3‘

Can you help me?

nathanhhughes commented 1 year ago

Hi, this is an issue with Kimera-VIO (see here for another report of the same issue). GTSAM changed their API for identity for Pose3 and Rot3 (they moved from Pose3::identity to Pose3::Identity). You have two options: 1) You can point GTSAM to a commit before the API change (I think this should work, but you might have to go back a few more) for now until Kimera-VIO releases changes to actually fix the issue 2) You can find-replace usage of Pose3::identity() to Pose3() and Rot3::identity() to Rot3() (this is the fix that will eventually be implemented in Kimera-VIO)

nathanhhughes commented 1 year ago

Also, note I transferred this to the Kimera-VIO repo as it was not related to Hydra

BIT-TYJ commented 1 year ago

Thank you for your response!

wolfcanli commented 1 year ago

Also, note I transferred this to the Kimera-VIO repo as it was not related to Hydra

Thank you for your reply. I had the same problem. Next, I will try the method you mentioned.