Not an issue but help needed during ORB SLAM build

[jaehs6sam]

Hello, I got the following error messages. Did I miss some library or I incorrectly installed dependencies?

hiteshc@2939993978-LAB5:~/orb/ORB_SLAM/build$ make Scanning dependencies of target rospack_genmsg_libexe [ 0%] Built target rospack_genmsg_libexe Scanning dependencies of target rosbuild_precompile [ 0%] Built target rosbuild_precompile Scanning dependencies of target ORB_SLAM [ 5%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/main.cc.o [ 11%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/Tracking.cc.o [ 16%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/LocalMapping.cc.o [ 22%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/LoopClosing.cc.o [ 27%] Building CXX object CMakeFiles/ORB_SLAM.dir/src/ORBextractor.cc.o /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::ComputeKeyPoints(std::vectorstd::vector&)’: /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:607:63: error: ‘FAST’ was not declared in this scope FAST(cellImage,cellKeyPoints[i][j],fastTh,true); ^ /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:616:34: error: ‘ORB’ has not been declared if( scoreType == ORB::HARRIS_SCORE ) ^ /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:683:17: error: ‘KeyPointsFilter’ has not been declared KeyPointsFilter::retainBest(keysCell,nToRetain[i][j]); ^ /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:699:13: error: ‘KeyPointsFilter’ has not been declared KeyPointsFilter::retainBest(keypoints,nDesiredFeatures); ^ /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::operator()(cv::InputArray, cv::InputArray, std::vectorcv::KeyPoint&, cv::OutputArray)’: /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:760:82: error: ‘GaussianBlur’ was not declared in this scope GaussianBlur(workingMat, workingMat, Size(7, 7), 2, 2, BORDER_REFLECT_101); ^ /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::ComputePyramid(cv::Mat, cv::Mat)’: /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:800:78: error: ‘INTER_LINEAR’ was not declared in this scope resize(mvImagePyramid[level-1], mvImagePyramid[level], sz, 0, 0, INTER_LINEAR); ^ /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:800:90: error: ‘resize’ was not declared in this scope resize(mvImagePyramid[level-1], mvImagePyramid[level], sz, 0, 0, INTER_LINEAR); ^ /home/hiteshc/orb/ORB_SLAM/src/ORBextractor.cc:803:80: error: ‘INTER_NEAREST’ was not declared in this scope resize(mvMaskPyramid[level-1], mvMaskPyramid[level], sz, 0, 0, INTER_NEAREST); ^ make[2]: * [CMakeFiles/ORB_SLAM.dir/src/ORBextractor.cc.o] Error 1 make[1]: * [CMakeFiles/ORB_SLAM.dir/all] Error 2 make: *\ [all] Error 2

[ram651991]

Faced the same issue. Was able to solve it using @aaronma37 comment in https://github.com/raulmur/ORB_SLAM/issues/44

[tahmine-iaun]

Hello. I faced with this err too but iam using ros hydro! Would you please help me?

[ram651991]

@tahmine-iaun ... ROS hydro shouldn't be a problem. Did you try adding header files as indicated by @aaronma37's comment in #44 ??

[tahmine-iaun]

@ram651991 tnx for your reply.. you konw things become a little complicated to me... just take a look at this message while iam trying to implement orbslam!

You know the ver of Eigen which is used here" sudo apt-get install libeigen3-dev" is under exception .i had to install it's new ver manually. could you pls help me with that? i've searched the net but found nothing useful

[roshdii]

this issue can help you https://github.com/raulmur/ORB_SLAM/issues/131