WangYixuan12
commented
3 years ago Hi! I encounter a similar problem! Have you ever solved it?
Open kwads123 opened 4 years ago
WangYixuan12
commented
3 years ago Hi! I encounter a similar problem! Have you ever solved it?
kwads123
commented
3 years ago Unfortunately I haven’t. I have attempted installation on 3 systems now, all running the same version of linux. It has only been successful with 1 and the other two have the error above.
kwads123
commented
3 years ago I have now found a solution to this issue. I have attempted building ORB SLAM3 on 4 different platforms: A powerful laptop running Ubuntu 16.04 and ROS Kinetic, a laptop running Ubuntu 16.04 and ROS Kinetic in a virtual box and two versions of Intel compute stick running 16.04 and 18.04 with Kinetic and Melodic respectively. The only successful install initially was on the more powerful laptop. The other systems failed to install each time. The problem is caused by the build.sh file. The make commands for each part of the build are 'make -j' commands. This automatically uses all processors for the build. If this slows down the system too much, it will start ending processes in order of priority, causing the compiler that ORB SLAM is using to end. To prevent the issue, in the 'build.sh' file change lines 7, 16 and 31 (the make -j lines) to include a specified number of processors to use for the build. I have implemented this for both compute sticks, both running different versions of Ubuntu, by adding 2 to these lines (e.g. make -j2) as they have 4 core CPUs. After this change, the build process runs fine and the build_ros.sh runs fine. No changes need to be made to the build_ros.sh file.
PiStar
commented
3 years ago I have now found a solution to this issue. I have attempted building ORB SLAM3 on 4 different platforms: A powerful laptop running Ubuntu 16.04 and ROS Kinetic, a laptop running Ubuntu 16.04 and ROS Kinetic in a virtual box and two versions of Intel compute stick running 16.04 and 18.04 with Kinetic and Melodic respectively. The only successful install initially was on the more powerful laptop. The other systems failed to install each time. The problem is caused by the build.sh file. The make commands for each part of the build are 'make -j' commands. This automatically uses all processors for the build. If this slows down the system too much, it will start ending processes in order of priority, causing the compiler that ORB SLAM is using to end. To prevent the issue, in the 'build.sh' file change lines 7, 16 and 31 (the make -j lines) to include a specified number of processors to use for the build. I have implemented this for both compute sticks, both running different versions of Ubuntu, by adding 2 to these lines (e.g. make -j2) as they have 4 core CPUs. After this change, the build process runs fine and the build_ros.sh runs fine. No changes need to be made to the build_ros.sh file.
Thank you, it works!!
buemi
commented
3 years ago Hi. I failed to perform the build in any platform I tried, even if I changed the -j value depending on the number of available cores. What is the minimum RAM requirement to successfully compile the project?
kanishkanarch
commented
3 years ago Hi. I failed to perform the build in any platform I tried, even if I changed the -j value depending on the number of available cores. What is the minimum RAM requirement to successfully compile the project?
You can compile the project with any laptop with any RAM (not too old, like before 2005-ish).
The trick here is to use only a single core of your hardware.
You can do this by changing the make -j to make in the two files build.sh & build_ros.sh.
(Make sure that you change all the multiple lines having make -j in the build.sh file, as it not only needs to compile the project, but also the third-party dependencies.)
buemi
commented
3 years ago I'm sorry to tell you that I already tried to compile setting the j value to any allowed value and the memory saturation happens. I used the Dragonboard 410 C equipped with a Qualcomm® Snapdragon (four cores @1.4GHz).
kanishkanarch
commented
3 years ago I'm sorry to tell you that I already tried to compile setting the j value to any allowed value and the memory saturation happens. I used the Dragonboard 410 C equipped with a Qualcomm® Snapdragon (four cores @1.4GHz).
Remove the J altogether. Replace make -j n (n = some number) with just make.
buemi
commented
3 years ago No good news: it doesn't work. I have successfully compiled the third party codes, but I still get (after a few hours) the fatal c++ error "killed signal terminated program cclplus", which is usually caused by running out of memory.
kanishkanarch
commented
3 years ago No good news: it doesn't work. I have successfully compiled the third party codes, but I still get (after a few hours) the fatal c++ error "killed signal terminated program cclplus", which is usually caused by running out of memory.
Just for clarification here, there are three -j flags in the build.sh file. You are removing all of them, right?
Try using September's commit version of the project. It is working fine for me. Make sure to remove the -j flags from both build files in that version also, so that all make -j n statements become make only.
These should be your edited build.sh & build_ros.sh files.
If you get the errors even after building September's version, please upload the log file. You can make one by using ./build.sh &> error_log.txt.
buemi
commented
3 years ago Yes, I did
buemi
commented
3 years ago How can I access to the September's version?
kanishkanarch
commented
3 years ago Do this in the ORB-SLAM3 repo that you cloned: git checkout ef9784101fb and then do git checkout -b September_version
Optional Reading
What these two commands do is:
- The command
git checkout ef97841brings your git head to the ef9784101fb commit, which is September's commit on this repo. You can see all commits using the commandgit log(this command is optional and doesn't do anything, apart from printing previous commits).- Since your head is now at a commit (September's commit) and not on a branch, the changes you make won't be commit-able. You need to checkout to a new branch from this commit so that you can save your changes and commit them for future.
git checkout -b September_versiondoes exactly that.
Now you are on a branch that has September's version of ORB-SLAM3. Now start making the required changes to both the build files and ORB-SLAM3 will compile properly.
buemi
commented
3 years ago Hi, sorry, I obtain the same fatal c++ error "killed signal terminated program cclplus" The "Thirdyparty" code compilation succeeded without any problems, the ORB-SLAM3 itself building process fails after several hours.
I am having a problem running ./build.sh. I have added my full output from the terminal window below. Before this, I was receiving a separate error about find_package not knowing the version of Eigen3 and not accepting it. I can confirm I have installed Eigen3 (via sudo apt-get install libeigen3-dev) and the version is 3.2.92. I was able to bypass this problem by removing the version in find_package in both ORB_SLAM3/CMakeLists.txt and ORB_SLAM3/Thirdparty/g2o/CMakeLists.txt E.g.
find_package(Eigen3 3.1.0 REQUIRED) >>>> find_package(Eigen3 REQUIRED)
Build Error: Configuring and building Thirdparty/DBoW2 ... mkdir: cannot create directory ‘build’: File exists -- Configuring done -- Generating done -- Build files have been written to: /home/tim/ORB_SLAM3/Thirdparty/DBoW2/build [100%] Built target DBoW2 Configuring and building Thirdparty/g2o ... mkdir: cannot create directory ‘build’: File exists -- BUILD TYPE:Release -- Compiling on Unix -- Configuring done -- Generating done -- Build files have been written to: /home/tim/ORB_SLAM3/Thirdparty/g2o/build Scanning dependencies of target g2o [ 6%] Building CXX object CMakeFiles/g2o.dir/g2o/types/types_six_dof_expmap.cpp.o [ 6%] Building CXX object CMakeFiles/g2o.dir/g2o/types/types_seven_dof_expmap.cpp.o [ 9%] Building CXX object CMakeFiles/g2o.dir/g2o/types/types_sba.cpp.o [ 12%] Building CXX object CMakeFiles/g2o.dir/g2o/core/robust_kernel.cpp.o [ 16%] Building CXX object CMakeFiles/g2o.dir/g2o/stuff/timeutil.cpp.o [ 19%] Building CXX object CMakeFiles/g2o.dir/g2o/core/solver.cpp.o [ 22%] Building CXX object CMakeFiles/g2o.dir/g2o/core/hyper_graph_action.cpp.o [ 25%] Building CXX object CMakeFiles/g2o.dir/g2o/core/robust_kernel_impl.cpp.o [ 29%] Building CXX object CMakeFiles/g2o.dir/g2o/core/robust_kernel_factory.cpp.o [ 32%] Building CXX object CMakeFiles/g2o.dir/g2o/core/hyper_dijkstra.cpp.o [ 35%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_factory.cpp.o [ 38%] Building CXX object CMakeFiles/g2o.dir/g2o/core/batch_stats.cpp.o [ 45%] Building CXX object CMakeFiles/g2o.dir/g2o/core/marginal_covariance_cholesky.cpp.o [ 48%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm.cpp.o [ 51%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_with_hessian.cpp.o [ 87%] Building CXX object CMakeFiles/g2o.dir/g2o/core/parameter.cpp.o [ 58%] Building CXX object CMakeFiles/g2o.dir/g2o/core/hyper_graph.cpp.o [ 61%] Building C object CMakeFiles/g2o.dir/g2o/stuff/os_specific.c.o [ 64%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_levenberg.cpp.o [ 67%] Building CXX object CMakeFiles/g2o.dir/g2o/core/parameter_container.cpp.o [ 70%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_gauss_newton.cpp.o [ 70%] Building CXX object CMakeFiles/g2o.dir/g2o/stuff/string_tools.cpp.o [ 70%] Building CXX object CMakeFiles/g2o.dir/g2o/core/matrix_structure.cpp.o [ 74%] Building CXX object CMakeFiles/g2o.dir/g2o/core/jacobian_workspace.cpp.o [ 77%] Building CXX object CMakeFiles/g2o.dir/g2o/core/sparse_optimizer.cpp.o [ 80%] Building CXX object CMakeFiles/g2o.dir/g2o/core/estimate_propagator.cpp.o [ 83%] Building CXX object CMakeFiles/g2o.dir/g2o/core/cache.cpp.o [ 90%] Building CXX object CMakeFiles/g2o.dir/g2o/core/factory.cpp.o [ 93%] Building CXX object CMakeFiles/g2o.dir/g2o/stuff/property.cpp.o [ 96%] Building CXX object CMakeFiles/g2o.dir/g2o/core/optimizable_graph.cpp.o [100%] Linking CXX shared library ../lib/libg2o.so [100%] Built target g2o Uncompress vocabulary ... Configuring and building ORB_SLAM3 ... mkdir: cannot create directory ‘build’: File exists Build type: Release -- Using flag -std=c++11. OPENCV VERSION: 3.3.1 -- BUILD TYPE:Release -- Compiling on Unix -- Configuring done -- Generating done -- Build files have been written to: /home/tim/ORB_SLAM3/build Scanning dependencies of target g2o Scanning dependencies of target ORB_SLAM3 [ 1%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/types/types_sba.cpp.o [ 2%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/types/types_six_dof_expmap.cpp.o [ 3%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/types/types_seven_dof_expmap.cpp.o [ 4%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/hyper_graph_action.cpp.o [ 6%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/hyper_graph.cpp.o [ 7%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/optimizable_graph.cpp.o [ 8%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_factory.cpp.o [ 9%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_levenberg.cpp.o [ 12%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/stuff/property.cpp.o [ 10%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/jacobian_workspace.cpp.o [ 13%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/parameter_container.cpp.o [ 14%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/optimization_algorithm_gauss_newton.cpp.o [ 19%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/matrix_structure.cpp.o [ 20%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/solver.cpp.o [ 21%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/robust_kernel_impl.cpp.o [ 15%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/optimization_algorithm.cpp.o [ 16%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/stuff/timeutil.cpp.o [ 27%] Building CXX object 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[ 34%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/cache.cpp.o [ 36%] Building CXX object Thirdparty/g2o/CMakeFiles/g2o.dir/g2o/core/robust_kernel.cpp.o [ 37%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/System.cc.o [ 44%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o [ 44%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o [ 44%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/ORBextractor.cc.o [ 44%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/LocalMapping.cc.o [ 44%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/ORBmatcher.cc.o [ 44%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/FrameDrawer.cc.o [ 45%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Converter.cc.o [ 46%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Optimizer.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Frame.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/MapPoint.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/MapDrawer.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Sim3Solver.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/PnPsolver.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Atlas.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Map.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/KeyFrame.cc.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/OptimizableTypes.cpp.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/TwoViewReconstruction.cc.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Initializer.cc.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/MLPnPsolver.cpp.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/ImuTypes.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/G2oTypes.cc.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/KeyFrameDatabase.cc.o [ 59%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/CameraModels/Pinhole.cpp.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/CameraModels/KannalaBrandt8.cpp.o [ 68%] Building CXX object CMakeFiles/ORB_SLAM3.dir/src/Viewer.cc.o virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory CMakeFiles/ORB_SLAM3.dir/build.make:86: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/Tracking.cc.o] Error 1 make[2]: Waiting for unfinished jobs.... CMakeFiles/ORB_SLAM3.dir/build.make:230: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/Converter.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/Converter.cc.o] Error 1 CMakeFiles/ORB_SLAM3.dir/build.make:638: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/OptimizableTypes.cpp.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/OptimizableTypes.cpp.o] Error 1 /home/tim/ORB_SLAM3/src/Optimizer.cc:5018:5: warning: "/" within comment [-Wcomment] /std::cout << " Construction time: " << t_const << std::endl; ^ CMakeFiles/ORB_SLAM3.dir/build.make:398: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/PnPsolver.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/PnPsolver.cc.o] Error 1 c++: internal compiler error: Killed (program cc1plus) Please submit a full bug report, with preprocessed source if appropriate. See file:///usr/share/doc/gcc-5/README.Bugs for instructions. CMakeFiles/ORB_SLAM3.dir/build.make:542: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/ImuTypes.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/ImuTypes.cc.o] Error 4 virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory virtual memory exhausted: Cannot allocate memory CMakeFiles/ORB_SLAM3.dir/build.make:134: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/LoopClosing.cc.o] Error 1 CMakeFiles/ORB_SLAM3.dir/build.make:182: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/ORBmatcher.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/ORBmatcher.cc.o] Error 1 CMakeFiles/ORB_SLAM3.dir/build.make:350: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/MapDrawer.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/MapDrawer.cc.o] Error 1 CMakeFiles/ORB_SLAM3.dir/build.make:590: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/CameraModels/Pinhole.cpp.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/CameraModels/Pinhole.cpp.o] Error 1 CMakeFiles/ORB_SLAM3.dir/build.make:614: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/CameraModels/KannalaBrandt8.cpp.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/CameraModels/KannalaBrandt8.cpp.o] Error 1 CMakeFiles/ORB_SLAM3.dir/build.make:686: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/TwoViewReconstruction.cc.o' failed make[2]: [CMakeFiles/ORB_SLAM3.dir/src/TwoViewReconstruction.cc.o] Error 1 CMakeFiles/ORB_SLAM3.dir/build.make:518: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/Viewer.cc.o' failed make[2]: ** [CMakeFiles/ORB_SLAM3.dir/src/Viewer.cc.o] Error 1 In file included from /home/tim/ORB_SLAM3/src/Map.cc:20:0: /home/tim/ORB_SLAM3/include/Map.h: In constructor ‘ORB_SLAM3::Map::Map()’: /home/tim/ORB_SLAM3/include/Map.h:186:9: warning: ‘ORB_SLAM3::Map::mnBigChangeIdx’ will be initialized after [-Wreorder] int mnBigChangeIdx; ^ /home/tim/ORB_SLAM3/include/Map.h:176:10: warning: ‘bool ORB_SLAM3::Map::mbImuInitialized’ [-Wreorder] bool mbImuInitialized; ^ /home/tim/ORB_SLAM3/src/Map.cc:29:1: warning: when initialized here [-Wreorder] Map::Map():mnMaxKFid(0),mnBigChangeIdx(0), mbImuInitialized(false), mnMapChange(0), mpFirstRegionKF(static_cast<KeyFrame>(NULL)), ^ In file included from /home/tim/ORB_SLAM3/src/Map.cc:20:0: /home/tim/ORB_SLAM3/include/Map.h:178:9: warning: ‘ORB_SLAM3::Map::mnMapChange’ will be initialized after [-Wreorder] int mnMapChange; ^ /home/tim/ORB_SLAM3/include/Map.h:144:15: warning: ‘ORB_SLAM3::KeyFrame ORB_SLAM3::Map::mpFirstRegionKF’ [-Wreorder] KeyFrame mpFirstRegionKF; ^ /home/tim/ORB_SLAM3/src/Map.cc:29:1: warning: when initialized here [-Wreorder] Map::Map():mnMaxKFid(0),mnBigChangeIdx(0), mbImuInitialized(false), mnMapChange(0), mpFirstRegionKF(static_cast<KeyFrame>(NULL)), ^ In file included from /home/tim/ORB_SLAM3/src/Map.cc:20:0: /home/tim/ORB_SLAM3/include/Map.h:194:18: warning: ‘ORB_SLAM3::Map::mbBad’ will be initialized after [-Wreorder] bool mbBad = false; ^ /home/tim/ORB_SLAM3/include/Map.h:179:9: warning: ‘int ORB_SLAM3::Map::mnMapChangeNotified’ [-Wreorder] int mnMapChangeNotified; ^ /home/tim/ORB_SLAM3/src/Map.cc:29:1: warning: when initialized here [-Wreorder] Map::Map():mnMaxKFid(0),mnBigChangeIdx(0), mbImuInitialized(false), mnMapChange(0), mpFirstRegionKF(static_cast<KeyFrame>(NULL)), ^ In file included from /home/tim/ORB_SLAM3/src/Map.cc:20:0: /home/tim/ORB_SLAM3/include/Map.h: In constructor ‘ORB_SLAM3::Map::Map(int)’: /home/tim/ORB_SLAM3/include/Map.h:194:18: warning: ‘ORB_SLAM3::Map::mbBad’ will be initialized after [-Wreorder] bool mbBad = false; ^ /home/tim/ORB_SLAM3/include/Map.h:176:10: warning: ‘bool ORB_SLAM3::Map::mbImuInitialized’ [-Wreorder] bool mbImuInitialized; ^ /home/tim/ORB_SLAM3/src/Map.cc:36:1: warning: when initialized here [-Wreorder] Map::Map(int initKFid):mnInitKFid(initKFid), mnMaxKFid(initKFid),mnLastLoopKFid(initKFid), mnBigChangeIdx(0), mIsInUse(false), ^ In file included from /home/tim/ORB_SLAM3/src/Map.cc:20:0: /home/tim/ORB_SLAM3/include/Map.h:176:10: warning: ‘ORB_SLAM3::Map::mbImuInitialized’ will be initialized after [-Wreorder] bool mbImuInitialized; ^ /home/tim/ORB_SLAM3/include/Map.h:144:15: warning: ‘ORB_SLAM3::KeyFrame ORB_SLAM3::Map::mpFirstRegionKF’ [-Wreorder] KeyFrame mpFirstRegionKF; ^ /home/tim/ORB_SLAM3/src/Map.cc:36:1: warning: when initialized here [-Wreorder] Map::Map(int initKFid):mnInitKFid(initKFid), mnMaxKFid(initKFid),mnLastLoopKFid(initKFid), mnBigChangeIdx(0), mIsInUse(false), ^ In file included from /home/tim/ORB_SLAM3/src/Map.cc:20:0: /home/tim/ORB_SLAM3/include/Map.h:178:9: warning: ‘ORB_SLAM3::Map::mnMapChange’ will be initialized after [-Wreorder] int mnMapChange; ^ /home/tim/ORB_SLAM3/include/Map.h:150:10: warning: ‘bool ORB_SLAM3::Map::mbFail’ [-Wreorder] bool mbFail; ^ /home/tim/ORB_SLAM3/src/Map.cc:36:1: warning: when initialized here [-Wreorder] Map::Map(int initKFid):mnInitKFid(initKFid), mnMaxKFid(initKFid),mnLastLoopKFid(initKFid), mnBigChangeIdx(0), mIsInUse(false), ^ /home/tim/ORB_SLAM3/src/Map.cc: In member function ‘void ORB_SLAM3::Map::PrintEssentialGraph()’: /home/tim/ORB_SLAM3/src/Map.cc:393:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for(int i=0; i<vpChilds.size() && count <= (mspKeyFrames.size()+10); ++i) ^ /home/tim/ORB_SLAM3/src/Map.cc:393:45: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for(int i=0; i<vpChilds.size() && count <= (mspKeyFrames.size()+10); ++i) ^ /home/tim/ORB_SLAM3/src/Map.cc:408:15: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] if (count == (mspKeyFrames.size()+10)) ^ /home/tim/ORB_SLAM3/src/Map.cc: In member function ‘bool ORB_SLAM3::Map::CheckEssentialGraph()’: /home/tim/ORB_SLAM3/src/Map.cc:438:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for(int i=0; i<vpChilds.size() && count <= (mspKeyFrames.size()+10); ++i) ^ /home/tim/ORB_SLAM3/src/Map.cc:438:45: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for(int i=0; i<vpChilds.size() && count <= (mspKeyFrames.size()+10); ++i) ^ /home/tim/ORB_SLAM3/src/Map.cc:448:15: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] if (count != (mspKeyFrames.size()-1)) ^ /home/tim/ORB_SLAM3/src/Map.cc: In member function ‘void ORB_SLAM3::Map::printReprojectionError(std::cxx11::list<ORB_SLAM3::KeyFrame>&, ORB_SLAM3::KeyFrame, std::cxx11::string&, std::__cxx11::string&)’: /home/tim/ORB_SLAM3/src/Map.cc:505:23: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for(int j=0; j<vpMPs.size(); ++j) ^ In file included from /home/tim/ORB_SLAM3/src/MapPoint.cc:19:0: /home/tim/ORB_SLAM3/include/MapPoint.h: In constructor ‘ORB_SLAM3::MapPoint::MapPoint(const cv::Mat&, ORB_SLAM3::KeyFrame, ORB_SLAM3::Map)’: /home/tim/ORB_SLAM3/include/MapPoint.h:265:11: warning: ‘ORB_SLAM3::MapPoint::mpMap’ will be initialized after [-Wreorder] Map mpMap; ^ /home/tim/ORB_SLAM3/include/MapPoint.h:228:18: warning: ‘unsigned int ORB_SLAM3::MapPoint::mnOriginMapId’ [-Wreorder] unsigned int mnOriginMapId; ^ /home/tim/ORB_SLAM3/src/MapPoint.cc:39:1: warning: when initialized here [-Wreorder] MapPoint::MapPoint(const cv::Mat &Pos, KeyFrame pRefKF, Map pMap): ^ In file included from /home/tim/ORB_SLAM3/src/MapPoint.cc:19:0: /home/tim/ORB_SLAM3/include/MapPoint.h: In constructor ‘ORB_SLAM3::MapPoint::MapPoint(double, cv::Point2f, ORB_SLAM3::KeyFrame, ORB_SLAM3::KeyFrame, ORB_SLAM3::Map)’: /home/tim/ORB_SLAM3/include/MapPoint.h:265:11: warning: ‘ORB_SLAM3::MapPoint::mpMap’ will be initialized after [-Wreorder] Map mpMap; ^ /home/tim/ORB_SLAM3/include/MapPoint.h:228:18: warning: ‘unsigned int ORB_SLAM3::MapPoint::mnOriginMapId’ [-Wreorder] unsigned int mnOriginMapId; ^ /home/tim/ORB_SLAM3/src/MapPoint.cc:57:1: warning: when initialized here [-Wreorder] MapPoint::MapPoint(const double invDepth, cv::Point2f uv_init, KeyFrame pRefKF, KeyFrame pHostKF, Map pMap): ^ In file included from /home/tim/ORB_SLAM3/src/MapPoint.cc:19:0: /home/tim/ORB_SLAM3/include/MapPoint.h: In constructor ‘ORB_SLAM3::MapPoint::MapPoint(const cv::Mat&, ORB_SLAM3::Map, ORB_SLAM3::Frame, const int&)’: /home/tim/ORB_SLAM3/include/MapPoint.h:265:11: warning: ‘ORB_SLAM3::MapPoint::mpMap’ will be initialized after [-Wreorder] Map mpMap; ^ /home/tim/ORB_SLAM3/include/MapPoint.h:228:18: warning: ‘unsigned int ORB_SLAM3::MapPoint::mnOriginMapId’ [-Wreorder] unsigned int mnOriginMapId; ^ /home/tim/ORB_SLAM3/src/MapPoint.cc:77:1: warning: when initialized here [-Wreorder] MapPoint::MapPoint(const cv::Mat &Pos, Map pMap, Frame pFrame, const int &idxF): ^ /home/tim/ORB_SLAM3/src/MapPoint.cc: In member function ‘void ORB_SLAM3::MapPoint::PrintObservations()’: /home/tim/ORB_SLAM3/src/MapPoint.cc:555:13: warning: unused variable ‘leftIndex’ [-Wunused-variable] int leftIndex = get<0>(indexes), rightIndex = get<1>(indexes); ^ /home/tim/ORB_SLAM3/src/MapPoint.cc:555:42: warning: unused variable ‘rightIndex’ [-Wunused-variable] int leftIndex = get<0>(indexes), rightIndex = get<1>(indexes); ^ /home/tim/ORB_SLAM3/src/KeyFrameDatabase.cc: In member function ‘void ORB_SLAM3::KeyFrameDatabase::DetectNBestCandidates(ORB_SLAM3::KeyFrame, std::vector<ORB_SLAM3::KeyFrame>&, std::vector<ORB_SLAM3::KeyFrame>&, int)’: /home/tim/ORB_SLAM3/src/KeyFrameDatabase.cc:731:13: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] while(i < lAccScoreAndMatch.size() && (vpLoopCand.size() < nNumCandidates || vpMergeCand.size() < nNumCandidates)) ^ /home/tim/ORB_SLAM3/src/KeyFrameDatabase.cc:731:62: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] while(i < lAccScoreAndMatch.size() && (vpLoopCand.size() < nNumCandidates || vpMergeCand.size() < nNumCandidates)) ^ /home/tim/ORB_SLAM3/src/KeyFrameDatabase.cc:731:101: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] while(i < lAccScoreAndMatch.size() && (vpLoopCand.size() < nNumCandidates || vpMergeCand.size() < nNumCandidates)) ^ /home/tim/ORB_SLAM3/src/KeyFrameDatabase.cc:740:69: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] if(pKF->GetMap() == pKFi->GetMap() && vpLoopCand.size() < nNumCandidates) ^ /home/tim/ORB_SLAM3/src/KeyFrameDatabase.cc:744:75: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] else if(pKF->GetMap() != pKFi->GetMap() && vpMergeCand.size() < nNumCandidates && !pKFi->GetMap()->IsBad()) ^ /home/tim/ORB_SLAM3/src/Sim3Solver.cc: In member function ‘void ORB_SLAM3::Sim3Solver::Project(const std::vector&, std::vector&, cv::Mat, ORB_SLAM3::GeometricCamera)’:
/home/tim/ORB_SLAM3/src/Sim3Solver.cc:483:21: warning: unused variable ‘invz’ [-Wunused-variable]
const float invz = 1/(P3Dc.at(2));
^
/home/tim/ORB_SLAM3/src/Sim3Solver.cc: In member function ‘void ORB_SLAM3::Sim3Solver::FromCameraToImage(const std::vector&, std::vector&, ORB_SLAM3::GeometricCamera )’:
/home/tim/ORB_SLAM3/src/Sim3Solver.cc:499:21: warning: unused variable ‘invz’ [-Wunused-variable]
const float invz = 1/(vP3Dc[i].at(2));
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/MapDrawer.h:23,
from /home/tim/ORB_SLAM3/include/Viewer.h:24,
from /home/tim/ORB_SLAM3/include/Tracking.h:27,
from /home/tim/ORB_SLAM3/include/FrameDrawer.h:23,
from /home/tim/ORB_SLAM3/src/FrameDrawer.cc:19:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/MapDrawer.h:23,
from /home/tim/ORB_SLAM3/include/Viewer.h:24,
from /home/tim/ORB_SLAM3/include/Tracking.h:27,
from /home/tim/ORB_SLAM3/include/FrameDrawer.h:23,
from /home/tim/ORB_SLAM3/src/FrameDrawer.cc:19:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/MapDrawer.h:23,
from /home/tim/ORB_SLAM3/include/Viewer.h:24,
from /home/tim/ORB_SLAM3/include/Tracking.h:27,
from /home/tim/ORB_SLAM3/include/FrameDrawer.h:23,
from /home/tim/ORB_SLAM3/src/FrameDrawer.cc:19:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector, float)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters, const float _precision) : GeometricCamera(_vParameters),
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(KannalaBrandt8 pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:24,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Initializer.cc:23:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:24,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Initializer.cc:23:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:24,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Initializer.cc:23:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector, float)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters, const float _precision) : GeometricCamera(_vParameters),
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(KannalaBrandt8 pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/src/Atlas.cc:19:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/src/Atlas.cc:19:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/src/Atlas.cc:19:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector, float)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters, const float _precision) : GeometricCamera(_vParameters),
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(KannalaBrandt8 pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/src/LocalMapping.cc:20:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/src/LocalMapping.cc:20:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/src/LocalMapping.cc:20:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector, float)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters, const float _precision) : GeometricCamera(_vParameters),
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(KannalaBrandt8 pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/FrameDrawer.h:25,
from /home/tim/ORB_SLAM3/include/Viewer.h:23,
from /home/tim/ORB_SLAM3/include/Tracking.h:27,
from /home/tim/ORB_SLAM3/include/System.h:32,
from /home/tim/ORB_SLAM3/src/System.cc:21:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/FrameDrawer.h:25,
from /home/tim/ORB_SLAM3/include/Viewer.h:23,
from /home/tim/ORB_SLAM3/include/Tracking.h:27,
from /home/tim/ORB_SLAM3/include/System.h:32,
from /home/tim/ORB_SLAM3/src/System.cc:21:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters) : GeometricCamera
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/FrameDrawer.h:25,
from /home/tim/ORB_SLAM3/include/Viewer.h:23,
from /home/tim/ORB_SLAM3/include/Tracking.h:27,
from /home/tim/ORB_SLAM3/include/System.h:32,
from /home/tim/ORB_SLAM3/src/System.cc:21:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector, float)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters, const float _prec
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(KannalaBrandt8 pKannala) : GeometricCamera(pKannala->mv
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:24,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Optimizer.cc:20:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:24,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Optimizer.cc:20:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/include/Atlas.h:27:0,
from /home/tim/ORB_SLAM3/include/LocalMapping.h:24,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:24,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Optimizer.cc:20:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector, float)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters, const float _precision) : GeometricCamera(_vParameters),
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(KannalaBrandt8 pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc: In constructor ‘ORB_SLAM3::KeyFrame::KeyFrame()’:
/home/tim/ORB_SLAM3/src/KeyFrame.cc:36:89: warning: passing NULL to non-pointer argument 1 of ‘std::vector<_Tp, _Alloc>::vector(std::vector<_Tp, _Alloc>::size_type, const allocator_type&) [with _Tp = cv::KeyPoint; _Alloc = std::allocator; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::allocator_type = std::allocator]’ [-Wconversion-null]
mbf(0), mb(0), mThDepth(0), N(0), mvKeys(static_cast<vector >(NULL)), mvKeysUn(static_cast<vector >(NULL)),
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:36:141: warning: passing NULL to non-pointer argument 1 of ‘std::vector<_Tp, _Alloc>::vector(std::vector<_Tp, _Alloc>::size_type, const allocator_type&) [with _Tp = cv::KeyPoint; _Alloc = std::allocator; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::allocator_type = std::allocator]’ [-Wconversion-null]
mbf(0), mb(0), mThDepth(0), N(0), mvKeys(static_cast<vector >(NULL)), mvKeysUn(static_cast<vector >(NULL)),
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:37:50: warning: passing NULL to non-pointer argument 1 of ‘std::vector<_Tp, _Alloc>::vector(std::vector<_Tp, _Alloc>::size_type, const allocator_type&) [with _Tp = float; _Alloc = std::allocator; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::allocator_type = std::allocator]’ [-Wconversion-null]
mvuRight(static_cast<vector >(NULL)), mvDepth(static_cast<vector >(NULL)), /mDescriptors(NULL),/
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:37:94: warning: passing NULL to non-pointer argument 1 of ‘std::vector<_Tp, _Alloc>::vector(std::vector<_Tp, _Alloc>::size_type, const allocator_type&) [with _Tp = float; _Alloc = std::allocator; std::vector<_Tp, _Alloc>::size_type = long unsigned int; std::vector<_Tp, _Alloc>::allocator_type = std::allocator]’ [-Wconversion-null]
mvuRight(static_cast<vector >(NULL)), mvDepth(static_cast<vector >(NULL)), /mDescriptors(NULL),/
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:450:23: warning: ‘ORB_SLAM3::KeyFrame::mnBALocalForMerge’ will be initialized after [-Wreorder]
long unsigned int mnBALocalForMerge;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:416:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnLoopQuery’ [-Wreorder]
long unsigned int mnLoopQuery;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:30:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame():
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:455:40: warning: ‘ORB_SLAM3::KeyFrame::invfy’ will be initialized after [-Wreorder]
const float fx, fy, cx, cy, invfx, invfy, mbf, mb, mThDepth;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:425:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnPlaceRecognitionQuery’ [-Wreorder]
long unsigned int mnPlaceRecognitionQuery;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:30:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame():
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:563:11: warning: ‘ORB_SLAM3::KeyFrame::mHalfBaseline’ will be initialized after [-Wreorder]
float mHalfBaseline; // Only for visualization
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:429:10: warning: ‘bool ORB_SLAM3::KeyFrame::mbCurrentPlaceRecognition’ [-Wreorder]
bool mbCurrentPlaceRecognition;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:30:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame():
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:507:10: warning: ‘ORB_SLAM3::KeyFrame::mbHasHessian’ will be initialized after [-Wreorder]
bool mbHasHessian;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:447:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnMergeCorrectedForKF’ [-Wreorder]
long unsigned int mnMergeCorrectedForKF;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:30:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame():
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:593:22: warning: ‘ORB_SLAM3::KeyFrame::NRight’ will be initialized after [-Wreorder]
const int NLeft, NRight;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:413:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnNumberOfOpt’ [-Wreorder]
long unsigned int mnNumberOfOpt;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:30:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame():
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h: In constructor ‘ORB_SLAM3::KeyFrame::KeyFrame(ORB_SLAM3::Frame&, ORB_SLAM3::Map, ORB_SLAM3::KeyFrameDatabase)’:
/home/tim/ORB_SLAM3/include/KeyFrame.h:450:23: warning: ‘ORB_SLAM3::KeyFrame::mnBALocalForMerge’ will be initialized after [-Wreorder]
long unsigned int mnBALocalForMerge;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:416:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnLoopQuery’ [-Wreorder]
long unsigned int mnLoopQuery;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:438:23: warning: ‘ORB_SLAM3::KeyFrame::mnBAGlobalForKF’ will be initialized after [-Wreorder]
long unsigned int mnBAGlobalForKF;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:425:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnPlaceRecognitionQuery’ [-Wreorder]
long unsigned int mnPlaceRecognitionQuery;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:548:15: warning: ‘ORB_SLAM3::KeyFrame::mpParent’ will be initialized after [-Wreorder]
KeyFrame mpParent;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:456:13: warning: ‘cv::Mat ORB_SLAM3::KeyFrame::mDistCoef’ [-Wreorder]
cv::Mat mDistCoef;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:559:10: warning: ‘ORB_SLAM3::KeyFrame::mbNotErase’ will be initialized after [-Wreorder]
bool mbNotErase;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:502:9: warning: ‘int ORB_SLAM3::KeyFrame::mnDataset’ [-Wreorder]
int mnDataset;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:565:10: warning: ‘ORB_SLAM3::KeyFrame::mpMap’ will be initialized after [-Wreorder]
Map mpMap;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:429:10: warning: ‘bool ORB_SLAM3::KeyFrame::mbCurrentPlaceRecognition’ [-Wreorder]
bool mbCurrentPlaceRecognition;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:507:10: warning: ‘ORB_SLAM3::KeyFrame::mbHasHessian’ will be initialized after [-Wreorder]
bool mbHasHessian;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:447:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnMergeCorrectedForKF’ [-Wreorder]
long unsigned int mnMergeCorrectedForKF;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:593:22: warning: ‘ORB_SLAM3::KeyFrame::NRight’ will be initialized after [-Wreorder]
const int NLeft, NRight;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:588:13: warning: ‘cv::Mat ORB_SLAM3::KeyFrame::mTrl’ [-Wreorder]
cv::Mat mTrl;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
In file included from /home/tim/ORB_SLAM3/src/KeyFrame.cc:19:0:
/home/tim/ORB_SLAM3/include/KeyFrame.h:588:13: warning: ‘ORB_SLAM3::KeyFrame::mTrl’ will be initialized after [-Wreorder]
cv::Mat mTrl;
^
/home/tim/ORB_SLAM3/include/KeyFrame.h:413:23: warning: ‘long unsigned int ORB_SLAM3::KeyFrame::mnNumberOfOpt’ [-Wreorder]
long unsigned int mnNumberOfOpt;
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:48:1: warning: when initialized here [-Wreorder]
KeyFrame::KeyFrame(Frame &F, Map pMap, KeyFrameDatabase pKFDB):
^
/home/tim/ORB_SLAM3/src/Map.cc: In member function ‘bool ORB_SLAM3::Map::CheckEssentialGraph()’:
/home/tim/ORB_SLAM3/src/Map.cc:432:51: warning: ‘pFirstKF’ may be used uninitialized in this function [-Wmaybe-uninitialized]
set<KeyFrame> spChilds = pFirstKF->GetChilds();
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc: In member function ‘void ORB_SLAM3::KeyFrame::EraseMapPointMatch(ORB_SLAM3::MapPoint)’:
/home/tim/ORB_SLAM3/src/KeyFrame.cc:322:18: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(leftIndex != -1)
^
/home/tim/ORB_SLAM3/src/KeyFrame.cc:324:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(rightIndex != -1)
^
/home/tim/ORB_SLAM3/src/MLPnPsolver.cpp: In member function ‘void ORB_SLAM3::MLPnPsolver::mlpnp_residuals_and_jacs(const VectorXd&, const points_t&, const std::vector<Eigen::Matrix<double, -1, -1> >&, Eigen::VectorXd&, Eigen::MatrixXd&, bool)’:
/home/tim/ORB_SLAM3/src/MLPnPsolver.cpp:766:27: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (int i = 0; i < pts.size(); ++i)
^
/home/tim/ORB_SLAM3/src/System.cc: In constructor ‘ORB_SLAM3::System::System(const string&, const string&, ORB_SLAM3::System::eSensor, bool, int, const string&, const string&)’:
/home/tim/ORB_SLAM3/src/System.cc:75:10: warning: unused variable ‘loadedAtlas’ [-Wunused-variable]
bool loadedAtlas = false;
^
/home/tim/ORB_SLAM3/src/System.cc: In member function ‘void ORB_SLAM3::System::SaveTrajectoryEuRoC(const string&)’:
/home/tim/ORB_SLAM3/src/System.cc:588:43: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(pMap->GetAllKeyFrames().size() > numMaxKFs)
^
/home/tim/ORB_SLAM3/src/System.cc: In member function ‘void ORB_SLAM3::System::SaveKeyFrameTrajectoryEuRoC(const string&)’:
/home/tim/ORB_SLAM3/src/System.cc:705:43: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(pMap->GetAllKeyFrames().size() > numMaxKFs)
^
/home/tim/ORB_SLAM3/src/Map.cc: In member function ‘void ORB_SLAM3::Map::PrintEssentialGraph()’:
/home/tim/ORB_SLAM3/src/Map.cc:386:51: warning: ‘pFirstKF’ may be used uninitialized in this function [-Wmaybe-uninitialized]
set<KeyFrame> spChilds = pFirstKF->GetChilds();
^
In file included from /home/tim/ORB_SLAM3/src/LocalMapping.cc:20:0:
/home/tim/ORB_SLAM3/include/LocalMapping.h: In constructor ‘ORB_SLAM3::LocalMapping::LocalMapping(ORB_SLAM3::System, ORB_SLAM3::Atlas, float, bool, const string&)’:
/home/tim/ORB_SLAM3/include/LocalMapping.h:169:10: warning: ‘ORB_SLAM3::LocalMapping::bInitializing’ will be initialized after [-Wreorder]
bool bInitializing;
^
/home/tim/ORB_SLAM3/include/LocalMapping.h:156:10: warning: ‘bool ORB_SLAM3::LocalMapping::mbAbortBA’ [-Wreorder]
bool mbAbortBA;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:32:1: warning: when initialized here [-Wreorder]
LocalMapping::LocalMapping(System pSys, Atlas pAtlas, const float bMonocular, bool bInertial, const string &_strSeqName):
^
In file included from /home/tim/ORB_SLAM3/src/LocalMapping.cc:20:0:
/home/tim/ORB_SLAM3/include/LocalMapping.h:163:10: warning: ‘ORB_SLAM3::LocalMapping::mbAcceptKeyFrames’ will be initialized after [-Wreorder]
bool mbAcceptKeyFrames;
^
/home/tim/ORB_SLAM3/include/LocalMapping.h:91:10: warning: ‘bool ORB_SLAM3::LocalMapping::mbNewInit’ [-Wreorder]
bool mbNewInit;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:32:1: warning: when initialized here [-Wreorder]
LocalMapping::LocalMapping(System pSys, Atlas pAtlas, const float bMonocular, bool bInertial, const string &_strSeqName):
^
In file included from /home/tim/ORB_SLAM3/src/LocalMapping.cc:20:0:
/home/tim/ORB_SLAM3/include/LocalMapping.h:93:18: warning: ‘ORB_SLAM3::LocalMapping::mIdxInit’ will be initialized after [-Wreorder]
unsigned int mIdxInit;
^
/home/tim/ORB_SLAM3/include/LocalMapping.h:88:12: warning: ‘double ORB_SLAM3::LocalMapping::mScale’ [-Wreorder]
double mScale;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:32:1: warning: when initialized here [-Wreorder]
LocalMapping::LocalMapping(System pSys, Atlas pAtlas, const float bMonocular, bool bInertial, const string &_strSeqName):
^
In file included from /home/tim/ORB_SLAM3/src/LocalMapping.cc:20:0:
/home/tim/ORB_SLAM3/include/LocalMapping.h:104:10: warning: ‘ORB_SLAM3::LocalMapping::mbNotBA2’ will be initialized after [-Wreorder]
bool mbNotBA2;
^
/home/tim/ORB_SLAM3/include/LocalMapping.h:100:9: warning: ‘int ORB_SLAM3::LocalMapping::mIdxIteration’ [-Wreorder]
int mIdxIteration;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:32:1: warning: when initialized here [-Wreorder]
LocalMapping::LocalMapping(System pSys, Atlas pAtlas, const float bMonocular, bool bInertial, const string &_strSeqName):
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc: In member function ‘void ORB_SLAM3::LocalMapping::Run()’:
/home/tim/ORB_SLAM3/src/LocalMapping.cc:153:63: warning: variable ‘begin’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:155:63: warning: variable ‘end’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:229:20: warning: unused variable ‘t_procKF’ [-Wunused-variable]
double t_procKF = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t1 - t0).count();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:230:20: warning: unused variable ‘t_MPcull’ [-Wunused-variable]
double t_MPcull = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:231:20: warning: unused variable ‘t_CheckMP’ [-Wunused-variable]
double t_CheckMP = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t3 - t2).count();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:232:20: warning: unused variable ‘t_searchNeigh’ [-Wunused-variable]
double t_searchNeigh = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t4 - t3).count();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:233:20: warning: unused variable ‘t_Opt’ [-Wunused-variable]
double t_Opt = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t5 - t4).count();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:234:20: warning: unused variable ‘t_KF_cull’ [-Wunused-variable]
double t_KF_cull = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t6 - t5).count();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:235:20: warning: unused variable ‘t_Insert’ [-Wunused-variable]
double t_Insert = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t8 - t7).count();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc: In member function ‘void ORB_SLAM3::LocalMapping::CreateNewMapPoints()’:
/home/tim/ORB_SLAM3/src/LocalMapping.cc:396:33: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
while((vpNeighKFs.size()<=nn)&&(pKF->mPrevKF)&&(count++<nn))
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:476:22: warning: unused variable ‘invfx2’ [-Wunused-variable]
const float &invfx2 = pKF2->invfx;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:477:22: warning: unused variable ‘invfy2’ [-Wunused-variable]
const float &invfy2 = pKF2->invfy;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:421:18: warning: unused variable ‘invfx1’ [-Wunused-variable]
const float &invfx1 = mpCurrentKeyFrame->invfx;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:422:18: warning: unused variable ‘invfy1’ [-Wunused-variable]
const float &invfy1 = mpCurrentKeyFrame->invfy;
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc: In member function ‘void ORB_SLAM3::LocalMapping::KeyFrameCulling()’:
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1002:75: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
: (i < pKF -> NLeft) ? pKF -> mvKeys[i].octave
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc: In member function ‘void ORB_SLAM3::LocalMapping::InitializeIMU(float, float, bool)’:
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1232:33: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(mpAtlas->KeyFramesInMap()<nMinKF)
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1246:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(vpKF.size()<nMinKF)
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1305:43: warning: variable ‘t0’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t0 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1307:43: warning: variable ‘t1’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1326:43: warning: variable ‘t2’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1332:43: warning: variable ‘t3’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1346:43: warning: variable ‘t4’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t4 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1355:43: warning: variable ‘t5’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t5 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc: In member function ‘void ORB_SLAM3::LocalMapping::ScaleRefinement()’:
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1422:15: warning: unused variable ‘N’ [-Wunused-variable]
const int N = vpKF.size();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1440:43: warning: variable ‘t2’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1446:43: warning: variable ‘t3’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1455:12: warning: unused variable ‘t_inertial_only’ [-Wunused-variable]
double t_inertial_only = std::chrono::duration_cast<std::chrono::duration >(t1 - t0).count();
^
/home/tim/ORB_SLAM3/src/G2oTypes.cc: In member function ‘void ORB_SLAM3::ImuCamPose::SetParam(const std::vector<Eigen::Matrix<double, 3, 3> >&, const std::vector<Eigen::Matrix<double, 3, 1> >&, const std::vector<Eigen::Matrix<double, 3, 3> >&, const std::vector<Eigen::Matrix<double, 3, 1> >&, const double&)’:
/home/tim/ORB_SLAM3/src/G2oTypes.cc:159:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<tcb.size(); i++)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:31:0:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:31:0:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:53:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:31:0:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(std::vector, float)’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:59:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(const std::vector _vParameters, const float _precision) : GeometricCamera(_vParameters),
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h: In constructor ‘ORB_SLAM3::KannalaBrandt8::KannalaBrandt8(ORB_SLAM3::KannalaBrandt8 )’:
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:105:21: warning: ‘ORB_SLAM3::KannalaBrandt8::precision’ will be initialized after [-Wreorder]
const float precision;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:95:26: warning: ‘std::vector ORB_SLAM3::KannalaBrandt8::mvLappingArea’ [-Wreorder]
std::vector mvLappingArea;
^
/home/tim/ORB_SLAM3/include/CameraModels/KannalaBrandt8.h:65:9: warning: when initialized here [-Wreorder]
KannalaBrandt8(KannalaBrandt8 pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h: In copy constructor ‘ORB_SLAM3::Frame::Frame(const ORB_SLAM3::Frame&)’:
/home/tim/ORB_SLAM3/include/Frame.h:183:27: warning: ‘ORB_SLAM3::Frame::mDescriptorsRight’ will be initialized after [-Wreorder]
cv::Mat mDescriptors, mDescriptorsRight;
^
/home/tim/ORB_SLAM3/include/Frame.h:173:28: warning: ‘std::vector<ORB_SLAM3::MapPoint> ORB_SLAM3::Frame::mvpMapPoints’ [-Wreorder]
std::vector<MapPoint> mvpMapPoints;
^
/home/tim/ORB_SLAM3/src/Frame.cc:51:1: warning: when initialized here [-Wreorder]
Frame::Frame(const Frame &frame)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h:209:16: warning: ‘ORB_SLAM3::Frame::mImuCalib’ will be initialized after [-Wreorder]
IMU::Calib mImuCalib;
^
/home/tim/ORB_SLAM3/include/Frame.h:188:9: warning: ‘int ORB_SLAM3::Frame::mnCloseMPs’ [-Wreorder]
int mnCloseMPs;
^
/home/tim/ORB_SLAM3/src/Frame.cc:51:1: warning: when initialized here [-Wreorder]
Frame::Frame(const Frame &frame)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h:217:25: warning: ‘ORB_SLAM3::Frame::mpImuPreintegratedFrame’ will be initialized after [-Wreorder]
IMU::Preintegrated mpImuPreintegratedFrame;
^
/home/tim/ORB_SLAM3/include/Frame.h:206:15: warning: ‘ORB_SLAM3::IMU::Bias ORB_SLAM3::Frame::mImuBias’ [-Wreorder]
IMU::Bias mImuBias;
^
/home/tim/ORB_SLAM3/src/Frame.cc:51:1: warning: when initialized here [-Wreorder]
Frame::Frame(const Frame &frame)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h:248:9: warning: ‘ORB_SLAM3::Frame::mnDataset’ will be initialized after [-Wreorder]
int mnDataset;
^
/home/tim/ORB_SLAM3/include/Frame.h:232:19: warning: ‘std::vector ORB_SLAM3::Frame::mvLevelSigma2’ [-Wreorder]
vector mvLevelSigma2;
^
/home/tim/ORB_SLAM3/src/Frame.cc:51:1: warning: when initialized here [-Wreorder]
Frame::Frame(const Frame &frame)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h:233:19: warning: ‘ORB_SLAM3::Frame::mvInvLevelSigma2’ will be initialized after [-Wreorder]
vector mvInvLevelSigma2;
^
/home/tim/ORB_SLAM3/include/Frame.h:216:12: warning: ‘ORB_SLAM3::Frame ORB_SLAM3::Frame::mpPrevFrame’ [-Wreorder]
Frame mpPrevFrame;
^
/home/tim/ORB_SLAM3/src/Frame.cc:51:1: warning: when initialized here [-Wreorder]
Frame::Frame(const Frame &frame)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h:216:12: warning: ‘ORB_SLAM3::Frame::mpPrevFrame’ will be initialized after [-Wreorder]
Frame mpPrevFrame;
^
/home/tim/ORB_SLAM3/include/Frame.h:213:15: warning: ‘ORB_SLAM3::KeyFrame ORB_SLAM3::Frame::mpLastKeyFrame’ [-Wreorder]
KeyFrame mpLastKeyFrame;
^
/home/tim/ORB_SLAM3/src/Frame.cc:51:1: warning: when initialized here [-Wreorder]
Frame::Frame(const Frame &frame)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h:297:31: warning: ‘ORB_SLAM3::Frame::mTrl’ will be initialized after [-Wreorder]
cv::Mat mTlr, mRlr, mtlr, mTrl;
^
/home/tim/ORB_SLAM3/include/Frame.h:250:12: warning: ‘double ORB_SLAM3::Frame::mTimeStereoMatch’ [-Wreorder]
double mTimeStereoMatch;
^
/home/tim/ORB_SLAM3/src/Frame.cc:51:1: warning: when initialized here [-Wreorder]
Frame::Frame(const Frame &frame)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h: In constructor ‘ORB_SLAM3::Frame::Frame(const cv::Mat&, const cv::Mat&, const double&, ORB_SLAM3::ORBextractor, ORB_SLAM3::ORBextractor, ORB_SLAM3::ORBVocabulary, cv::Mat&, cv::Mat&, const float&, const float&, ORB_SLAM3::GeometricCamera, ORB_SLAM3::Frame, const ORB_SLAM3::IMU::Calib&)’:
/home/tim/ORB_SLAM3/include/Frame.h:277:33: warning: ‘ORB_SLAM3::Frame::mpCamera2’ will be initialized after [-Wreorder]
GeometricCamera mpCamera, mpCamera2;
^
/home/tim/ORB_SLAM3/include/Frame.h:250:12: warning: ‘double ORB_SLAM3::Frame::mTimeStereoMatch’ [-Wreorder]
double mTimeStereoMatch;
^
/home/tim/ORB_SLAM3/src/Frame.cc:88:1: warning: when initialized here [-Wreorder]
Frame::Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor extractorLeft, ORBextractor extractorRight, ORBVocabulary voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera pCamera, Frame pPrevF, const IMU::Calib &ImuCalib)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h: In constructor ‘ORB_SLAM3::Frame::Frame(const cv::Mat&, const cv::Mat&, const double&, ORB_SLAM3::ORBextractor, ORB_SLAM3::ORBVocabulary, cv::Mat&, cv::Mat&, const float&, const float&, ORB_SLAM3::GeometricCamera, ORB_SLAM3::Frame, const ORB_SLAM3::IMU::Calib&)’:
/home/tim/ORB_SLAM3/include/Frame.h:277:33: warning: ‘ORB_SLAM3::Frame::mpCamera2’ will be initialized after [-Wreorder]
GeometricCamera mpCamera, mpCamera2;
^
/home/tim/ORB_SLAM3/include/Frame.h:250:12: warning: ‘double ORB_SLAM3::Frame::mTimeStereoMatch’ [-Wreorder]
double mTimeStereoMatch;
^
/home/tim/ORB_SLAM3/src/Frame.cc:191:1: warning: when initialized here [-Wreorder]
Frame::Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor extractor,ORBVocabulary voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, GeometricCamera pCamera,Frame pPrevF, const IMU::Calib &ImuCalib)
^
In file included from /home/tim/ORB_SLAM3/src/Frame.cc:19:0:
/home/tim/ORB_SLAM3/include/Frame.h: In constructor ‘ORB_SLAM3::Frame::Frame(const cv::Mat&, const double&, ORB_SLAM3::ORBextractor, ORB_SLAM3::ORBVocabulary, ORB_SLAM3::GeometricCamera, cv::Mat&, const float&, const float&, ORB_SLAM3::Frame, const ORB_SLAM3::IMU::Calib&)’:
/home/tim/ORB_SLAM3/include/Frame.h:277:33: warning: ‘ORB_SLAM3::Frame::mpCamera2’ will be initialized after [-Wreorder]
GeometricCamera mpCamera, mpCamera2;
^
/home/tim/ORB_SLAM3/include/Frame.h:250:12: warning: ‘double ORB_SLAM3::Frame::mTimeStereoMatch’ [-Wreorder]
double mTimeStereoMatch;
^
/home/tim/ORB_SLAM3/src/Frame.cc:274:1: warning: when initialized here [-Wreorder]
Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor extractor,ORBVocabulary voc, GeometricCamera pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame pPrevF, const IMU::Calib &ImuCalib)
^
/home/tim/ORB_SLAM3/src/G2oTypes.cc: In member function ‘void ORB_SLAM3::ImuCamPose::Update(const double)’:
/home/tim/ORB_SLAM3/src/G2oTypes.cc:214:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<pCamera.size(); i++)
^
/home/tim/ORB_SLAM3/src/G2oTypes.cc: In member function ‘void ORB_SLAM3::ImuCamPose::UpdateW(const double)’:
/home/tim/ORB_SLAM3/src/G2oTypes.cc:251:19: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<pCamera.size(); i++)
^
/home/tim/ORB_SLAM3/src/Frame.cc: In constructor ‘ORB_SLAM3::Frame::Frame(const cv::Mat&, const cv::Mat&, const double&, ORB_SLAM3::ORBextractor, ORB_SLAM3::ORBextractor, ORB_SLAM3::ORBVocabulary, cv::Mat&, cv::Mat&, const float&, const float&, ORB_SLAM3::GeometricCamera, ORB_SLAM3::GeometricCamera, cv::Mat&, ORB_SLAM3::Frame, const ORB_SLAM3::IMU::Calib&)’:
/home/tim/ORB_SLAM3/src/Frame.cc:1108:12: warning: unused variable ‘t_read’ [-Wunused-variable]
double t_read = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t1 - t0).count();
^
/home/tim/ORB_SLAM3/src/Frame.cc:1109:12: warning: unused variable ‘t_orbextract’ [-Wunused-variable]
double t_orbextract = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t2 - t1).count();
^
/home/tim/ORB_SLAM3/src/Frame.cc:1110:12: warning: unused variable ‘t_stereomatches’ [-Wunused-variable]
double t_stereomatches = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t3 - t2).count();
^
/home/tim/ORB_SLAM3/src/Frame.cc:1111:12: warning: unused variable ‘t_assign’ [-Wunused-variable]
double t_assign = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t4 - t3).count();
^
/home/tim/ORB_SLAM3/src/Frame.cc:1112:12: warning: unused variable ‘t_undistort’ [-Wunused-variable]
double t_undistort = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(t5 - t4).count();
^
In file included from /home/tim/ORB_SLAM3/src/G2oTypes.cc:19:0:
/home/tim/ORB_SLAM3/include/G2oTypes.h: In constructor ‘ORB_SLAM3::InvDepthPoint::InvDepthPoint(double, double, double, ORB_SLAM3::KeyFrame)’:
/home/tim/ORB_SLAM3/include/G2oTypes.h:119:15: warning: ‘ORB_SLAM3::InvDepthPoint::v’ will be initialized after [-Wreorder]
double u, v; // they are not variables, observation in the host frame
^
/home/tim/ORB_SLAM3/include/G2oTypes.h:118:12: warning: ‘double ORB_SLAM3::InvDepthPoint::rho’ [-Wreorder]
double rho;
^
/home/tim/ORB_SLAM3/src/G2oTypes.cc:258:1: warning: when initialized here [-Wreorder]
InvDepthPoint::InvDepthPoint(double _rho, double _u, double _v, KeyFrame pHostKF): u(_u), v(_v), rho(_rho),
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::BundleAdjustment(const std::vector<ORB_SLAM3::KeyFrame>&, const std::vector<ORB_SLAM3::MapPoint>&, int, bool, long unsigned int, bool)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:236:51: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(rightIndex != -1 && rightIndex < pKF->mvKeysRight.size()){
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::FullInertialBA(ORB_SLAM3::Map, int, bool, long unsigned int, bool, bool, float, float, Eigen::VectorXd, bool)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:721:55: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(rightIndex != -1 && rightIndex < pKFi->mvKeysRight.size()){
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::LocalBundleAdjustment(ORB_SLAM3::KeyFrame, bool, std::vector<ORB_SLAM3::KeyFrame>&)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:1261:27: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(pKFi->mnId < lowerId)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:1266:32: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
else if(pKFi->mnId < secondLowerId)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:1671:16: warning: unused variable ‘dist’ [-Wunused-variable]
double dist = cv::norm(trasl);
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:1375:9: warning: unused variable ‘nKFs’ [-Wunused-variable]
int nKFs = lLocalKeyFrames.size()+lFixedCameras.size(), nEdges = 0;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:1641:10: warning: unused variable ‘bRedrawError’ [-Wunused-variable]
bool bRedrawError = false;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:1642:10: warning: unused variable ‘bWriteStats’ [-Wunused-variable]
bool bWriteStats = false;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::LocalBundleAdjustment(ORB_SLAM3::KeyFrame, bool, ORB_SLAM3::Map, int&)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:1777:27: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
if(pKFi->mnId < lowerId)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:1782:32: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
else if(pKFi->mnId < secondLowerId)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:1889:9: warning: unused variable ‘nKFs’ [-Wunused-variable]
int nKFs = lLocalKeyFrames.size()+lFixedCameras.size(), nEdges = 0;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:2021:43: warning: variable ‘begin’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:2023:43: warning: variable ‘end’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:2216:10: warning: variable ‘bShowStats’ set but not used [-Wunused-but-set-variable]
bool bShowStats = false;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::OptimizeEssentialGraph(ORB_SLAM3::Map, ORB_SLAM3::KeyFrame, ORB_SLAM3::KeyFrame, const KeyFrameAndPose&, const KeyFrameAndPose&, const std::map<ORB_SLAM3::KeyFrame, std::set<ORB_SLAM3::KeyFrame> >&, const bool&)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:2554:11: warning: unused variable ‘err0’ [-Wunused-variable]
float err0 = optimizer.activeRobustChi2();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:2557:11: warning: unused variable ‘errEnd’ [-Wunused-variable]
float errEnd = optimizer.activeRobustChi2();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::LocalInertialBA(ORB_SLAM3::KeyFrame, bool, ORB_SLAM3::Map, bool, bool)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:4415:43: warning: variable ‘t0’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t0 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:4883:43: warning: variable ‘t1’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:4891:43: warning: variable ‘t2’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:5013:43: warning: variable ‘t3’ set but not used [-Wunused-but-set-variable]
std::chrono::steady_clock::time_point t3 = std::chrono::steady_clock::now();
^
c++: internal compiler error: Killed (program cc1plus)
Please submit a full bug report,
with preprocessed source if appropriate.
See file:///usr/share/doc/gcc-5/README.Bugs for instructions.
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::InertialOptimization(ORB_SLAM3::Map, Eigen::Matrix3d&, double&, Eigen::Vector3d&, Eigen::Vector3d&, bool, Eigen::MatrixXd&, bool, bool, float, float)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:5308:22: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(size_t i=0; i<N; i++)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::InertialOptimization(ORB_SLAM3::Map, Eigen::Vector3d&, Eigen::Vector3d&, float, float)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:5473:22: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(size_t i=0; i<N; i++)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::InertialOptimization(std::vector<ORB_SLAM3::KeyFrame*>, Eigen::Vector3d&, Eigen::Vector3d&, float, float)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:5634:22: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(size_t i=0; i<N; i++)
^
CMakeFiles/ORB_SLAM3.dir/build.make:494: recipe for target 'CMakeFiles/ORB_SLAM3.dir/src/Initializer.cc.o' failed
make[2]: [CMakeFiles/ORB_SLAM3.dir/src/Initializer.cc.o] Error 4
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::LocalBundleAdjustment(ORB_SLAM3::KeyFrame, std::vector<ORB_SLAM3::KeyFrame>, std::vector<ORB_SLAM3::KeyFrame>, bool)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:6356:19: warning: unused variable ‘pMPi’ [-Wunused-variable]
MapPoint pMPi = it->first;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:6541:33: warning: unused variable ‘kpUn’ [-Wunused-variable]
const cv::KeyPoint &kpUn = pKF->mvKeysUn[get<0>(mit->second)];
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:6649:31: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<vpMonoMPsOpt.size(); ++i)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:6669:32: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<vpStereoMPsOpt.size(); ++i)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:6689:32: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<vpMonoMPsBad.size(); ++i)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:6708:31: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for(int i=0; i<vpStereoMPsBad.size(); ++i)
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::MergeInertialBA(ORB_SLAM3::KeyFrame, ORB_SLAM3::KeyFrame, bool, ORB_SLAM3::Map, ORB_SLAM3::LoopClosing::KeyFrameAndPose&)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:6863:19: warning: suggest explicit braces to avoid ambiguous ‘else’ [-Wparentheses]
if(!pMP->isBad())
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static int ORB_SLAM3::Optimizer::PoseInertialOptimizationLastKeyFrame(ORB_SLAM3::Frame, bool)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:7554:10: warning: unused variable ‘bOut’ [-Wunused-variable]
bool bOut = false;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc: In static member function ‘static void ORB_SLAM3::Optimizer::OptimizeEssentialGraph4DoF(ORB_SLAM3::Map, ORB_SLAM3::KeyFrame, ORB_SLAM3::KeyFrame, const KeyFrameAndPose&, const KeyFrameAndPose&, const std::map<ORB_SLAM3::KeyFrame, std::set<ORB_SLAM3::KeyFrame> >&)’:
/home/tim/ORB_SLAM3/src/Optimizer.cc:8239:25: warning: variable ‘Swi’ set but not used [-Wunused-but-set-variable]
const g2o::Sim3 Swi = Siw.inverse();
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:8232:15: warning: variable ‘e_loop’ set but not used [-Wunused-but-set-variable]
Edge4DoF e_loop;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:8158:62: warning: typedef ‘BlockSolver_4_4’ locally defined but not used [-Wunused-local-typedefs]
typedef g2o::BlockSolver< g2o::BlockSolverTraits<4, 4> > BlockSolver_4_4;
^
/home/tim/ORB_SLAM3/src/System.cc: In member function ‘void ORB_SLAM3::System::SaveTrajectoryEuRoC(const string&)’:
/home/tim/ORB_SLAM3/src/System.cc:657:17: warning: ‘pBiggerMap’ may be used uninitialized in this function [-Wmaybe-uninitialized]
if(!pKF || pKF->GetMap() != pBiggerMap)
^
/home/tim/ORB_SLAM3/src/System.cc: In member function ‘void ORB_SLAM3::System::SaveKeyFrameTrajectoryEuRoC(const string&)’:
/home/tim/ORB_SLAM3/src/System.cc:712:59: warning: ‘pBiggerMap’ may be used uninitialized in this function [-Wmaybe-uninitialized]
vector<KeyFrame> vpKFs = pBiggerMap->GetAllKeyFrames();
^
/home/tim/ORB_SLAM3/src/LocalMapping.cc: In member function ‘void ORB_SLAM3::LocalMapping::KeyFrameCulling()’:
/home/tim/ORB_SLAM3/src/LocalMapping.cc:1057:47: warning: ‘last_ID’ may be used uninitialized in this function [-Wmaybe-uninitialized]
if((bInitImu && (pKF->mnId<last_ID) && t<3.) || (t<0.5))
^
[ 69%] Linking CXX shared library ../../../Thirdparty/g2o/lib/libg2o.so
[ 69%] Built target g2o
In file included from /home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:38:0,
from /home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
from /home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:34,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Optimizer.cc:20:
/home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/hyper_graph.h: In static member function ‘static void ORB_SLAM3::Optimizer::FullInertialBA(ORB_SLAM3::Map, int, bool, long unsigned int, bool, bool, float, float, Eigen::VectorXd, bool)’:
/home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/hyper_graph.h:148:118: warning: ‘VA2’ may be used uninitialized in this function [-Wmaybe-uninitialized]
void setVertex(size_t i, Vertex v) { assert(i < _vertices.size() && "index out of bounds"); _vertices[i]=v;}
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:526:42: note: ‘VA2’ was declared here
g2o::HyperGraph::Vertex VA2;
^
In file included from /home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:38:0,
from /home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
from /home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
from /home/tim/ORB_SLAM3/include/LoopClosing.h:34,
from /home/tim/ORB_SLAM3/include/Optimizer.h:26,
from /home/tim/ORB_SLAM3/src/Optimizer.cc:20:
/home/tim/ORB_SLAM3/Thirdparty/g2o/g2o/types/../core/hyper_graph.h:148:118: warning: ‘VG2’ may be used uninitialized in this function [-Wmaybe-uninitialized]
void setVertex(size_t i, Vertex v) { assert(i < _vertices.size() && "index out of bounds"); _vertices[i]=v;}
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:525:42: note: ‘VG2’ was declared here
g2o::HyperGraph::Vertex VG2;
^
/home/tim/ORB_SLAM3/src/Optimizer.cc:490:53: warning: ‘pIncKF’ may be used uninitialized in this function [-Wmaybe-uninitialized]
VertexAccBias VA = new VertexAccBias(pIncKF);
^
CMakeFiles/Makefile2:400: recipe for target 'CMakeFiles/ORB_SLAM3.dir/all' failed
make[1]: [CMakeFiles/ORB_SLAM3.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2