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dangut / RGBiD-SLAM

Dense visual SLAM for RGB-D cameras
GNU General Public License v3.0
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Error in compiling the main package #2

Open Amir-Ramezani opened 7 years ago

Amir-Ramezani commented 7 years ago

Hi,

After compiling the third parties, I get the following errors: seems to be something about g2o, but I am not sure where is best place to change, or if there is package or something I missed.

         + (1-cos(theta))/(theta*theta)*Omega2);
                                          ^

/home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:242:46: error: ‘R’ was not declared in this scope return TrafoSO3R3(Eigen::Quaterniond(R),upsilon); ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:242:49: error: ‘upsilon’ was not declared in this scope return TrafoSO3R3(Eigen::Quaterniond(R),upsilon); ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h: In member function ‘Eigen::Matrix<double, 6, 6, 0> g2o::TrafoSO3R3::adj() const’: /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:247:9: error: ‘Matrix3D’ was not declared in this scope Matrix3D R = _r.toRotationMatrix(); ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:247:18: error: expected ‘;’ before ‘R’ Matrix3D R = _r.toRotationMatrix(); ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:249:30: error: ‘R’ was not declared in this scope res.block(0,0,3,3) = R; ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:251:35: error: ‘_t’ was not declared in this scope res.block(0,3,3,3) = skew(_t)R; ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:251:37: error: ‘skew’ was not declared in this scope res.block(0,3,3,3) = skew(_t)R; ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:252:30: error: ‘Matrix3D’ is not a class, namespace, or enumeration res.block(3,0,3,3) = Matrix3D::Zero(3,3); ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h: In member function ‘Eigen::Matrix<double, 4, 4> g2o::TrafoSO3R3::to_homogeneous_matrix() const’: /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:261:57: error: ‘translation’ was not declared in this scope homogeneous_matrix.col(3).head(3) = translation(); ^ In file included from /home/amir-ai/RGBiD-SLAM/include/pose_graph_manager.h:40:0, from /home/amir-ai/RGBiD-SLAM/include/loop_closer.h:34, from /home/amir-ai/RGBiD-SLAM/src/loop_closer.cpp:24: /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/types_six_dof_pose.h: In member function ‘virtual void g2o::EdgeSO3R3::computeError()’: /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/types_six_dof_pose.h:92:46: error: ‘jacobianR’ was not declared in this scope Eigen::Matrix3d Q = jacobianR(error_rot); ^ In file included from /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:30:0, from /home/amir-ai/RGBiD-SLAM/include/pose_graph_manager.h:39, from /home/amir-ai/RGBiD-SLAM/include/loop_closer.h:34, from /home/amir-ai/RGBiD-SLAM/include/keyframe_manager.h:36, from /home/amir-ai/RGBiD-SLAM/src/keyframe_manager.cpp:24: /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/so3_utils.h:37:34: error: ‘Matrix3D’ does not name a type inline G2O_TYPES_POSEGRAPH_API Matrix3D skew(const Vector3D&v); ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/so3_utils.h:38:34: error: ‘Vector3D’ does not name a type inline G2O_TYPES_POSEGRAPH_API Vector3D deltaR(const Matrix3D& R); ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/so3_utils.h:39:34: error: ‘Matrix3D’ does not name a type inline G2O_TYPES_POSEGRAPH_API Matrix3D jacobianR(const Vector3D& theta); ^ In file included from /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/so3_utils.h:41:0, from /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:30, from /home/amir-ai/RGBiD-SLAM/include/pose_graph_manager.h:39, from /home/amir-ai/RGBiD-SLAM/include/loop_closer.h:34, from /home/amir-ai/RGBiD-SLAM/include/keyframe_manager.h:36, from /home/amir-ai/RGBiD-SLAM/src/keyframe_manager.cpp:24: /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/so3_utils.hpp:29:3: error: ‘Matrix3D’ does not name a type Matrix3D skew(const Vector3D&v) ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/so3_utils.hpp:42:3: error: ‘Vector3D’ does not name a type Vector3D deltaR(const Matrix3D& R) ^ /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/so3_utils.hpp:51:3: error: ‘Matrix3D’ does not name a type Matrix3D jacobianR(const Vector3D& theta) ^ In file included from /home/amir-ai/RGBiD-SLAM/include/pose_graph_manager.h:39:0, from /home/amir-ai/RGBiD-SLAM/include/loop_closer.h:34, from /home/amir-ai/RGBiD-SLAM/include/keyframe_manager.h:36, from /home/amir-ai/RGBiD-SLAM/src/keyframe_manager.cpp:24: /home/amir-ai/RGBiD-SLAM/ThirdParty/g2o-lite/g2o/types/pose_graph/trafo_so3r3.h:47:7: error: ‘Vector3D’ does not name a type Vector3D _t;

Sara-Esam commented 2 years ago

Hi, I am facing the same issue, can anyone help?