Minor compilation issues on ubuntu 15.10

[higerra]

First thanks very much for the excellent library! I'm always looking for a SLAM library which provides non-ROS option.

The compilation goes pretty smooth except for two minor issues. The system environment before compilation: Ubuntu 15.10, gcc 4.9.3, opencv 3.0, Eigen 3.2.7, gflags, glog, Ceres 1.11, Nvidia 352.63, cuda 7.5 Other dependencies are installed by following the guide.

1. In build/brisk/src/brisk_external/src/image-down-sampling.cc, error: 'runtime_error' is not a member of 'std'. Solved this by simply add #include at the head of this file. This is pretty strange that this source file is located inside the build directory (not from any file in downloaded files).
2. In okvis_cv/include/okvis/implementation/Frame.hpp. Problem occurs in line 120, 153 and 188, all with cv::FeatureDetector and cv::DescriptorExtractor. They are declared as shared_ptr, but their member function is called from a non-const function. Also, for the cv::DescritproExtractor, I guess the compute() member function is not marked as const, so there is an error when trying to call compute() method with shared_ptr. My current solution is to cast away the const qualifier, for example:

line 188: const_cast<cv::DescriptorExtractor*>(extractor_.get())->compute(image_, keypoints_, descriptors_);

line 120: const_cast<cv::FeatureDetector*>(detector_.get())->detect(image_, keypoints_);

This might not be the desired solution, but it works.

The above are just for compilation, actually I haven't run or use the library.

[bhack]

Yes i found the same problem.

[sleutenegger]

Thanks for reporting this. It seems I will have to fix (1) in the BRISK library. (2) is probably linked to a specific version of OpenCV, unfortunately some of the interfaces change sometimes. I will have a look...

[bhack]

We still cannot use BRISK version in Opencv instead of the external one? /cc @vpisarev