weigao95 / surfelwarp Goto Github PK

View Code? Open in Web Editor NEW

271.0 13.0 72.0 28.82 MB

SurfelWarp: Efficient Non-Volumetric Dynamic Reconstruction

Home Page: https://sites.google.com/view/surfelwarp/home

License: BSD 3-Clause "New" or "Revised" License

CMake 0.62% C++ 42.85% Cuda 33.22% C 22.61% GLSL 0.69%

dynamicfusion 3d-reconstruction non-rigid slam kinect computer-vision visual-slam

surfelwarp's Introduction

SurfelWarp

SurfelWarp is a dynamic reconstruction pipeline. Compared to other dynamic reconstruction methods like DynamicFusion, surfelwarp uses flat surfel array (instead of volumetric field) as the geometry representation, which makes the pipeline robust and efficient. The approach is described in our paper.

Demo [Video][Presentation]

Publication

Wei Gao and Russ Tedrake, "SurfelWarp: Efficient Non-Volumetic Single View Dynamic Reconstruction", Robotics: Science and Systems (RSS) 2018 [Project][Paper][Presentation]

Build Instructions

The code was originally developed with CUDA 9 and PCL 1.8 on Visual Studio 2015 and Ubuntu 16.04. Thanks to the contribution by @Algomorph, the code works with higher version of CUDA, Ubuntu 18.04 and Visual Studio 2017. Also note that, for some unknown reason, the code runs much slower on Ubuntu (seems to be problem with GPU driver that only permits Debug mode).

According to your environment, please follow the specific build instruction:

Ubuntu 16.04 with CUDA 9 (note that CUDA 10 doesn't work with this one)
Ubuntu 16.04/18.04 with CUDA >= 9 (CUDA 10 is OK) and cilantro
Windows 10 with CUDA 9 (CUDA 10 doesn't work with this one)
Windows 10 with CUDA >= 9 (CUDA 10 is OK) and cilantro

We also provide a pre-built binary for the windows platform (The CUDA -arch flag for this executable is sm_60).

Run Instructions

We use the VolumeDeform dataset to illustrate how to run the code. An example configuration file is provided here for the "boxing" sequence. First, you need to download the boxing sequence from the VolumeDeform dataset and extract it to data_root, your file structure should look like

${data_root}/frame-000000.color.png
${data_root}/frame-000000.depth.png
...

You also need to download the trained model for Global Patch Collider (gpc) from here. Let the path to the model be ${gpc_path} .

In the configuration file, please modify the data_prefix and gpc_model_path to ${data_root} and ${gpc_path}, respectively. After that, you can run the algorithm with

cd ${project_root}/build/apps/surfelwarp_app
./surfelwarp_app /path/to/config

If everything goes well, the executable would produce the reconstructed result per frame in the same folder as surfelwarp_app.

FAQ

What's the typical speed of surfelwarp?

On the windows platform with a Nvidia Titan Xp GPU, the processing time is usually less than 20 [ms] per frame. To test the speed in surfelwarp_app, you need to build with Release and disable offline rendering (which takes most of the time).
How to use my own data?

You might override the FetchInterface and use it with ImageProcessor. If you don't have performance requirement, you can also convert your data into the format of VolumeDeform.
How to deal with topology change?

Currently, only periodic reinitialization is implemented. To use it, set this flag in config file. More advanced criterion of reinitialization would come soon.

TODO

The code is re-factored and improved from the repo of our RSS paper. There are some planned new features and some old code need to be ported into this repository. Here is a list of TODOs:

Add sparse feature correspondence
Implement albedo reconstruction
Rewrite automatic reinitialization detection for the new geometry and loss function. Currently, only periodic reinitialization is implemented
Port the GPU kdtree querying (although the overall speed is already relatively fast)

Contact

If you have any question or suggestion regarding this work, please send me an email.

surfelwarp's People

Contributors

Stargazers

Watchers

Forkers

nnu-gisa peterzhousz ahandsomeperson eshafeeqe njzhangyifei shuochen365 suyuan945 liuxinqi12 willfu chenxingshensecond jitaseal jbyu algomorph wavelet303 azuresilent cbenitez81 firemicrocosm initialneil mihaibujanca nataliaponomarevamm wine3603 xiaotaw takafumi-t yang-l1 hoangcuongbk80 luffydai sunzhiliang pwais ichild1994 baldrlector wangxihao wangyouai njh19 qzane doterkuile xsyamojix antonyvan bianlongpeng visioan derrick-xwp ctiger96 rlczddl changhaonan betwind ali-robot nosignal00 grideyes-2010 leviosaaaa fzy139 c8pan tongqy frankgoto minlattnwe zmy1871 nyran shaisung nikelily kimsoohwan handong369 gaoqinghong91 whuhxb choyfung normaaaaan henry123-boy remmel maiiihn ma1hn

surfelwarp's Issues

A build error on windows10 about glfw

I've built your code on win10 with vs2019 and glfw-3.3.2.
here is the error:

错误 LNK2019 无法解析的外部符号 __imp_strspn，函数 glfwUpdateGamepadMappings 中引用了该符号 surfelwarp_app C:\Users\cscg\Desktop\surfelwarp\build\apps\surfelwarp_app\glfw3.lib(input.c.obj) 1

Does anyone know how to solve this？Maybe I should set some other libraries?

Simplify the dependency building using CMake's ExternalProject_Add

Using CMake's ExternalProject_Add to check-out and automatically build dependencies can probably dramatically simplify the build process, esp. on the Windows platform, where more things have to be built from scratch. This would thereby aid in the adoption of SurfelWarp by the community.

Hence I propose to have corresponding CMake options, i.e.
BUILD_EXTERNAL_GLFW, which would trigger the download and build using CMake subroutines (which use git). Otherwise, the system version of the package would be used.

Refer to Pangolin for reference.

Again, if #5 is accepted, these can be the target dependencies:

Eigen
GLFW
Pangolin
cilantro

I wouldn't include OpenCV or PCL here because those are massive and require eons to build, esp. with common dependencies. Moreover, OpenCV is pre-packaged and available for both Windows and Ubuntu.

This addition would also allow not to include Eigen with the code but get it from a specific commit, thereby reducing the size of the repository and amount of clutter.

The apply of FilterReg in 3D reconstruct

Recently ，I am interesting in your work "FilterReg:Robust and Efficient Probabilistic Point-Set Registration，CVPR 2019", I try to find it here,but failed. Where is the the apply of FilterReg in 3D reconstruct?

node candidates are extraordinarily large

Hello!
When I run the code with the data-set boxing , it failed with:
surfelwarp/common/DeviceBufferArray.h:90: The pre-allocated buffer is not enough
(m_surfel_candidate_pixel size = 72748 > m_surfel_vertex_confid buffer = 50000 )

I think it is not the Buffer size thing，but the algorithm or hardware. Because this is size of nodes not surfels. And 72748 nodes are extraordinarily large.
Further more, when I set the kMaxNumSurfelCandidates = 80000; it failed with:
core/geometry/WarpFieldUpdater.cpp:21: **Nan in node candidate**
——————————————————————————————
this too many nodes happened after the
surfelwarp_app/main.cpp:40: The 0th Frame

then : fusion.ProcessNextFrameWithReinit(offline_rendering)
then: m_live_geometry_updater->ProcessFusionStreamed(num_remaining_surfel, num_appended_surfel);

and then, I found that in
surfelwarp::SurfelFusionHandler::processFusionAppendAtomic()
it calculates the wrong result：
the m_atomic_appended_pixel_index was set to 72748

then I uncomment the check code at:
core/geometry/SurfelFusionHandler.cpp:91:

void surfelwarp::SurfelFusionHandler::ProcessFusion(cudaStream_t stream) {
	//Debug check
	SURFELWARP_CHECK(!containsNaN(m_fusion_geometry.live_vertex_confid.ArrayView()));

and I got this Error:
Check failed: !containsNaN(m_fusion_geometry.live_vertex_confid.ArrayView())

so I checked back, and found in file
core/geometry/SurfelNodeDeformer.cu: the function : device::forwardWarpVertexAndNodeKernel<<<grid, blk, 0, stream>>>(
set the live_vertex(which point to the live_vertex_confid) from float values to nan.

At last, I found that the parameter node_se3 that passed in is all nan!

could you or any one please help me find out where is wrong?

token __CUDACC_VER__ is no longer supported

Hi, thanks for your code. I installed Eigen in /external folder, and installed cuda9.0. Then I tried to compile the code following the readme. However, I got the following error:

[ 1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o In file included from /usr/local/cuda/include/common_functions.h:50:0, from /usr/local/cuda/include/cuda_runtime.h:115, from <command-line>:0: /usr/local/cuda/include/crt/common_functions.h:64:24: error: token ""__CUDACC_VER__ is no longer supported. Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported. Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead." ^ /usr/include/eigen3/Eigen/src/Core/util/Macros.h:402:85: note: in expansion of macro ‘__CUDACC_VER__’ && ( !defined(__NVCC__) || !EIGEN_ARCH_ARM_OR_ARM64 || (defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000) )

It seems to be the incompatity between Eigen and CUDA, however, I don't know exactly how to fix it. A little help would be appreciated. Thanks.

Eigen3.4 (declared implicitly) cannot be referenced -- it is a deleted function

My EVN:
Visualization_library=cilantro
windows10
VS2017
CUDA10.0
Compiled Pangolin with Eigen3.4
Compiled cilantro with Eigen3.4

When I compile surfelwarp project, get error:

1>D:/dev3rdparty/cilantro/install/lib/cmake/cilantro/../../../include\cilantro/image_point_cloud_conversions.hpp(409): **error** : function "Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::operator=(const Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true> &) [with XprType=Eigen::Matrix<float, 3, -1, 0, 3, -1>, BlockRows=3, BlockCols=1, InnerPanel=true]" (declared implicitly) cannot be referenced -- it is a deleted function
1>
1>D:/dev3rdparty/cilantro/install/lib/cmake/cilantro/../../../include\cilantro/image_point_cloud_conversions.hpp(472): **error** : function "Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::operator=(const Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true> &) [with XprType=Eigen::Matrix<float, 3, -1, 0, 3, -1>, BlockRows=3, BlockCols=1, InnerPanel=true]" (declared implicitly) cannot be referenced -- it is a deleted function
1>
1>D:/dev3rdparty/cilantro/install/lib/cmake/cilantro/../../../include\cilantro/image_point_cloud_conversions.hpp(583): **error** : function "Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::operator=(const Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true> &) [with XprType=Eigen::Matrix<float, 3, -1, 0, 3, -1>, BlockRows=3, BlockCols=1, InnerPanel=true]" (declared implicitly) cannot be referenced -- it is a deleted function
1>
1>D:/dev3rdparty/cilantro/install/lib/cmake/cilantro/../../../include\cilantro/image_point_cloud_conversions.hpp(697): **error** : function "Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::operator=(const Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true> &) [with XprType=Eigen::Matrix<float, 3, -1, 0, 3, -1>, BlockRows=3, BlockCols=1, InnerPanel=true]" (declared implicitly) cannot be referenced -- it is a deleted function
1>
1>4 errors detected in the compilation of "C:/Users/F47/AppData/Local/Temp/tmpxft_00003c08_00000000-8_data_transfer.cpp4.ii".
1>data_transfer.cu
1>CMake Error at common_lib_generated_data_transfer.cu.obj.Release.cmake:280 (message):
1>  Error generating file
1>  D:/0.unity_prj/surfelwarp/build/common/CMakeFiles/common_lib.dir//Release/common_lib_generated_data_transfer.cu.obj

@Algomorph when I build cilantro, no error is reported. The Eigen3.4 used is surfelwarp/external/eigen3.4, I can't find where the problem is

Passing saved poses instead of computing them yields different results

I am running a couple of tests on the code and tried saving the poses to a file and passing them as an additional parameter to ProcessNextFrameWithReinit. I've commented out

m_rigid_solver->SetInputMaps(solver_maps, observation, m_camera.GetWorld2Camera());
const mat34 solved_world2camera = m_rigid_solver->Solve();

and instead passed the precomputed pose to the camera.

I was wondering if there is any reason calling the rigid solver methods might be necessary.

I am still investigating the issue, but at some point I'm getting
surfelwarp/core/geometry/WarpFieldUpdater.cpp:162: Invalid wight in node KNN

Speeding up sparse feature matching

Hi @weigao95
I've profiled surfelwarp and it seems like surfelwarp::device::buildColliderKeyValueKernel takes up 40-50% of CUDA time (and most of it seems to be spent on waiting to synchronize).
Do you have any suggestions on how this might be improved?

On a related note, I've tried increasing num_trees in PatchColliderRGBCorrespondence, but any value above 5 results in a crash in PatchColliderRGBCorrespondence::FindCorrespondence.

Do you think it's worth trying to improve the sparse matching based on GPC or should I look into alternative methods?

Thanks

Hi,

support online rendering

Hi, I noticed surfelwarp support offline rendering. It's very cool to display rendered images (e.g. live_abedo.png) on screen, instead of saving into local files.

Simply comment out glfwWindowHint(GLFW_VISIBLE, GL_FALSE);, it just displays a black window. HAHA

Thank you!

The pre-allocated buffer is not enough.

Hi,
I run it on Ubuntu16.04 with GTX 980ti, it says "The pre-allocated buffer is not enough" and give me a runtime_error.
buffer size = 50000 and size = 72748.

Any help will be much appreciated.

make failed

I follow your build instruction to build the model but I get an error when I do the make command

How can I solve this problem

I hope to get some advice

Hello author, I want to implement your project with VS2019 on win10. Based on VCPKG, I installed libraries PCL, GLFW3, eigen, pangolin, and added cliantro to the subdirectory, but encountered many problems, I hope to get some guidance from you.

Nan in node candidate error

(fixed)

About gaussian newton iteration.

Hi@weigao95,

I notice that there are two iteration methods in gaussian newton loop: solverIterationGlobalIterationStreamed and solverIterationLocalIterationStreamed, it seems that you run the global iteration 3 times and the local iteration 3 times each. In the global iteration, the density and foreground term is disabled and in the local iteration the density term is enabled. I can't quickly figure out the intuition of this design and here are my two questions:

What's the consideration behind such design that to spilt the gaussian newton loop to global and local interations like this ?
The codes in solverIterationGlobalIterationStreamed and solverIterationLocalIterationStreamed seems identical? Can we just use one function instead of two?

Thanks in advance! Any discussion is welcome!

CUDA_cublas_LIBRARY not found

Hi,

Ive got an issue with building. All the steps in the build instructions worked fine up until the build stage, where I get the following error

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
 Please set them or make sure they are set and tested correctly in the CMake files:
 CUDA_cublas_LIBRARY (ADVANCED)
     linked by target "solver_lib" in directory /homes/dg1119/IP/surfelwarp/pcg_solver
     linked by target "core_lib" in directory /homes/dg1119/IP/surfelwarp/core

I am using Cuda 10.1 on ubuntu 18.04

I also got a similar error with CUDA_cublas_device_LIBRARY, but this was solved by using a newer version of Cmake as per issue #22, however this one remained.

Thanks

How to acquire deformation vector field of 2 point clouds?

Hello @weigao95, many thanks to your contributions of maintaining this promising and fast reconstruction library!

I want to know if there is any way to apply deformation registration to 2 point clouds and acquire the deformation vector field by using your library? I guess the registration result of 2 depth frames is stored inside SurfelWarpSerial.cpp code, but I don't know how to get the vector field from it.

Thanks for your help!

run error

when I run the demo, I get an error.

do you know how to solve it?

here is the cmake log

-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found CUDA: /usr/local/cuda (found suitable exact version "9.0")
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so
-- Looking for XOpenDisplay in /usr/lib/x86_64-linux-gnu/libX11.so;/usr/lib/x86_64-linux-gnu/libXext.so - found
-- Looking for gethostbyname
-- Looking for gethostbyname - found
-- Looking for connect
-- Looking for connect - found
-- Looking for remove
-- Looking for remove - found
-- Looking for shmat
-- Looking for shmat - found
-- Looking for IceConnectionNumber in ICE
-- Looking for IceConnectionNumber in ICE - found
-- Found X11: /usr/lib/x86_64-linux-gnu/libX11.so
-- Found GLFW: /usr/include (found version "3.1.2")
-- Checking for module 'eigen3'
-- Found eigen3, version 3.2.92
-- Found eigen: /usr/include/eigen3
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- chrono
-- atomic
-- regex
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
** WARNING ** io features related to libusb-1.0 will be disabled
-- Checking for module 'flann'
-- Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- Checking for module 'libopenni'
-- Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so
-- Checking for module 'libopenni2'
-- Found libopenni2, version 2.2.0.3
-- Found OpenNI2: /usr/lib/libOpenNI2.so
-- LIBUSB_1_LIBRARY (missing: LIBUSB_1_INCLUDE_DIR)
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so
-- looking for PCL_IO
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /usr/include/pcl-1.7
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so
-- looking for PCL_RECOGNITION
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so
-- looking for PCL_PEOPLE
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so
-- looking for PCL_OUTOFCORE
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so
-- looking for PCL_APPS
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- looking for PCL_MODELER
-- Found PCL_MODELER: /usr/include/pcl-1.7
-- looking for PCL_IN_HAND_SCANNER
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.7
-- looking for PCL_POINT_CLOUD_EDITOR
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.7
-- Found PCL: /usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_common.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_common.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;optimized;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_search.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_search.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;vtkImagingStencil;vtkCommonComputationalGeometry;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkImagingCore;vtkCommonExecutionModel;vtkFiltersAMR;vtkFiltersGeneral;vtkFiltersCore;vtkParallelCore;vtkIOLegacy;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersGeometry;vtkFiltersSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkRenderingVolume;vtkIOParallelNetCDF;vtkParallelMPI;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5_hl.so;vtkRenderingOpenGL;vtkIOLSDyna;vtkIOXML;vtkIOGeometry;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkLocalExample;vtkInfovisCore;vtkGeovisCore;vtkInfovisLayout;vtkViewsCore;vtkproj4;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkTestingGenericBridge;/usr/lib/libgl2ps.so;verdict;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkFiltersImaging;vtkIOMINC;vtkRenderingLOD;vtkViewsQt;vtkGUISupportQt;vtkViewsInfovis;vtkChartsCore;vtkRenderingContext2D;vtkRenderingLabel;vtkRenderingImage;vtkFiltersFlowPaths;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersReebGraph;vtkViewsContext2D;vtkIOXdmf2;vtkIOAMR;vtkRenderingContextOpenGL;vtkImagingStatistics;vtkIOParallel;vtkFiltersParallel;vtkIONetCDF;vtkexoIIc;vtkGUISupportQtOpenGL;vtkIOParallelLSDyna;vtkFiltersParallelGeometry;vtkGUISupportQtWebkit;vtkIOPLY;vtkWrappingTools;vtkFiltersHyperTree;vtkRenderingVolumeOpenGL;vtkIOExodus;vtkIOPostgreSQL;vtkIOSQL;sqlite3;vtkWrappingJava;vtkFiltersParallelFlowPaths;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersParallelImaging;vtkRenderingParallelLIC;vtkRenderingLIC;vtkInteractionImage;vtkFiltersPython;vtkWrappingPythonCore;vtkIOParallelExodus;vtkFiltersGeneric;vtkIOVideo;vtkRenderingQt;vtkFiltersTexture;vtkIOInfovis;vtkGUISupportQtSQL;vtkRenderingFreeTypeOpenGL;vtkInfovisBoostGraphAlgorithms;vtkRenderingGL2PS;vtkIOGeoJSON;vtkFiltersVerdict;vtkViewsGeovis;vtkIOImport;vtkTestingIOSQL;vtkPythonInterpreter;vtkIOODBC;vtkIOEnSight;vtkIOMySQL;vtkRenderingMatplotlib;vtkDomainsChemistry;vtkIOExport;vtkFiltersParallelMPI;vtkIOParallelXML;vtkTestingRendering;vtkIOMPIParallel;vtkParallelMPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL;optimized;/usr/lib/x86_64-linux-gnu/libpcl_io.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_io.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_features.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_features.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_people.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_people.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;/usr/lib/libOpenNI2.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;vtkImagingStencil;vtkCommonComputationalGeometry;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkImagingCore;vtkCommonExecutionModel;vtkFiltersAMR;vtkFiltersGeneral;vtkFiltersCore;vtkParallelCore;vtkIOLegacy;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersGeometry;vtkFiltersSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkRenderingVolume;vtkIOParallelNetCDF;vtkParallelMPI;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5_hl.so;vtkRenderingOpenGL;vtkIOLSDyna;vtkIOXML;vtkIOGeometry;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkLocalExample;vtkInfovisCore;vtkGeovisCore;vtkInfovisLayout;vtkViewsCore;vtkproj4;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkTestingGenericBridge;/usr/lib/libgl2ps.so;verdict;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkFiltersImaging;vtkIOMINC;vtkRenderingLOD;vtkViewsQt;vtkGUISupportQt;vtkViewsInfovis;vtkChartsCore;vtkRenderingContext2D;vtkRenderingLabel;vtkRenderingImage;vtkFiltersFlowPaths;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersReebGraph;vtkViewsContext2D;vtkIOXdmf2;vtkIOAMR;vtkRenderingContextOpenGL;vtkImagingStatistics;vtkIOParallel;vtkFiltersParallel;vtkIONetCDF;vtkexoIIc;vtkGUISupportQtOpenGL;vtkIOParallelLSDyna;vtkFiltersParallelGeometry;vtkGUISupportQtWebkit;vtkIOPLY;vtkWrappingTools;vtkFiltersHyperTree;vtkRenderingVolumeOpenGL;vtkIOExodus;vtkIOPostgreSQL;vtkIOSQL;sqlite3;vtkWrappingJava;vtkFiltersParallelFlowPaths;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersParallelImaging;vtkRenderingParallelLIC;vtkRenderingLIC;vtkInteractionImage;vtkFiltersPython;vtkWrappingPythonCore;vtkIOParallelExodus;vtkFiltersGeneric;vtkIOVideo;vtkRenderingQt;vtkFiltersTexture;vtkIOInfovis;vtkGUISupportQtSQL;vtkRenderingFreeTypeOpenGL;vtkInfovisBoostGraphAlgorithms;vtkRenderingGL2PS;vtkIOGeoJSON;vtkFiltersVerdict;vtkViewsGeovis;vtkIOImport;vtkTestingIOSQL;vtkPythonInterpreter;vtkIOODBC;vtkIOEnSight;vtkIOMySQL;vtkRenderingMatplotlib;vtkDomainsChemistry;vtkIOExport;vtkFiltersParallelMPI;vtkIOParallelXML;vtkTestingRendering;vtkIOMPIParallel;vtkParallelMPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL
-- Found OpenCV: /home/llx/opencv-3.4.6/release (found suitable version "3.4.6", minimum required is "3.4")
-- Configuring done
-- Generating done
-- Build files have been written to: /home/llx/surfelwarp/test

About the jacobian. Why don't calculate the full derivative from cost function to each node's twist?

Hi @weigao95, thank you so much for sharing this well-implemented algorithm.

When reading the codes in detail, the jacobian calculation process immediately catch my attention.

As for the data term(dense depth term) in your paper, I notice that you calculate the jacobian from scalar cost to the warpped vertex's SE(3), and then map this jacobian to the node's twist with a weight. I wonder whether this is the right way to get the jacobian for each node's twist that we want optmize.

For myself, I will first build the jacobian directly from scalar cost to the node's twist, then build the JtJ and Jte matrix. Thus the building process of term2node and node2term structure in your code can be saved(I guess).

In conclude, I have the following two questions (take the dense depth term as example):

Is it ok to optimize the node's twist by using the jacobian from scalar cost to the warpped vertex, plus a weight? does this process has a theoretic foundation?
What is your consideration by deciding not to calculate the full derivative from scalar cost to the node's twist?

Any discussion is welcome! Thanks in advance!

'nlohmann::detail::parse_error' what(): [json.exception.parse_error.101] parse error at 1: syntax error - unexpected end of input; expected '[', '{', or a literal Aborted

Ubuntu18.04、cuda10.0、gcc7.5
After my surfelwarp project make is successful, I configured the gpc and boxing paths, and ran ./surfelwarp_app /path/to/config. An error of'nlohmann::detail::parse_error appeared, have you encountered this situation?

The pretrained gpc model file is missing?

First, thank you so much for your sharing. I try to compile and run the code on Windows.

Today I manage to build it successfully but when I start the program, it fails on creating the SurfelWarpSerial class instance. Then I notice that there's no file named sintel_small_speed in the targeted directory gpc_model_path.

How can I fix this problem? Than you in advance!

Run error:surfelwarp/common/algorithm_types.h:85

hello，I encountered a Error after running /surfelwarp_app /path/to/config

wya@wya:~/project/SW/surfelwarp/build/apps/surfelwarp_app$ ./surfelwarp_app /path/to/config
Error: 	/home/wya/project/SW/surfelwarp/common/algorithm_types.h:85

algorithm_types.h:85:cudaSafeCall(cudaMalloc((void**)(&m_device_num_selected),sizeof(int)));
My computer graphics card is GTX1070 , I used the cuda10.0 and cilantro, so I set the cuda_arch=61 as follows:
I have modified the CMakeLists:

# Cuda
find_package(CUDA 10 REQUIRED)
include_directories(${CUDA_INCLUDE_DIRS})
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -arch=sm_61")
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -gencode=arch=compute_61,code=sm_61")
set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -gencode=arch=compute_61,code=compute_61")

# Point cloud library and a series / cilantro

set(cilantro_DIR "../../cilantro/install_static")
find_package(cilantro REQUIRED)
include_directories(${cilantro_INCLUDE_DIRS})
add_definitions(-DWITH_CILANTRO)

This is my cmake information:

-- The C compiler identification is GNU 6.5.0
-- The CXX compiler identification is GNU 6.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc - works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ - works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda (found suitable version "10.0", minimum required is "10") 
-- Found OpenMP_C: -fopenmp (found version "4.5") 
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5")  
-- Found Boost: /usr/include (found version "1.58.0") found components: system filesystem 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/wya/project/SW/surfelwarp/cmake-build-debug

Have you encountered this problem?

Ubuntu 50 ms per frame

Build with Release and disable offline rendering
Run surfelwarp_app on ubuntu with GPU
The average time is 55 ms (add nvcc --use_fast_math, 45 ms)

Any other ways to increase fps?

run error

when i try to run:

./surfelwarp_app /path/to/config

I got an errro below:

Error: 	/home/jiajie/body-recontruction/surfelwarp/core/render/GLSurfelGeometryVBO.cpp:82

i check GLSurfelGeometryVBO.cpp:82:

cudaSafeCall(cudaGraphicsGLRegisterBuffer(&(vbo.cuda_vbo_resources[0]), vbo.reference_vertex_confid, cudaGraphicsRegisterFlagsNone));

Do u know how to solve it?

My CMake confg is:

-- The C compiler identification is GNU 6.5.0
-- The CXX compiler identification is GNU 6.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda (found suitable version "9.0", minimum required is "9") 
-- Checking for module 'eigen3'
--   Found eigen3, version 3.3.90
-- Found eigen: /usr/local/include/eigen3  
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
--   chrono
--   atomic
--   regex
-- Checking for module 'flann'
--   Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a  
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
-- Found openni: /usr/lib/libOpenNI.so  
-- Checking for module 'libopenni2'
--   No package 'libopenni2' found
-- Could NOT find OpenNI2 (missing:  OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS) 
** WARNING ** io features related to openni2 will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- Found libusb-1.0: /usr/include  
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- Checking for module 'libopenni2'
--   No package 'libopenni2' found
-- Could NOT find OpenNI2 (missing:  OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS) 
** WARNING ** visualization features related to openni2 will be disabled
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/lib/x86_64-linux-gnu/libpcl_common.so  
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so  
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/lib/x86_64-linux-gnu/libpcl_octree.so  
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /usr/lib/x86_64-linux-gnu/libpcl_search.so  
-- looking for PCL_IO
-- Found PCL_IO: /usr/lib/x86_64-linux-gnu/libpcl_io.so  
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so  
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /usr/lib/x86_64-linux-gnu/libpcl_filters.so  
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /usr/include/pcl-1.7  
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /usr/lib/x86_64-linux-gnu/libpcl_features.so  
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /usr/lib/x86_64-linux-gnu/libpcl_segmentation.so  
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /usr/lib/x86_64-linux-gnu/libpcl_surface.so  
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /usr/lib/x86_64-linux-gnu/libpcl_registration.so  
-- looking for PCL_RECOGNITION
-- Found PCL_RECOGNITION: /usr/lib/x86_64-linux-gnu/libpcl_recognition.so  
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /usr/lib/x86_64-linux-gnu/libpcl_keypoints.so  
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /usr/lib/x86_64-linux-gnu/libpcl_visualization.so  
-- looking for PCL_PEOPLE
-- Found PCL_PEOPLE: /usr/lib/x86_64-linux-gnu/libpcl_people.so  
-- looking for PCL_OUTOFCORE
-- Found PCL_OUTOFCORE: /usr/lib/x86_64-linux-gnu/libpcl_outofcore.so  
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /usr/lib/x86_64-linux-gnu/libpcl_tracking.so  
-- looking for PCL_APPS
-- Could NOT find PCL_APPS (missing:  PCL_APPS_LIBRARY) 
-- looking for PCL_MODELER
-- Found PCL_MODELER: /usr/include/pcl-1.7  
-- looking for PCL_IN_HAND_SCANNER
-- Found PCL_IN_HAND_SCANNER: /usr/include/pcl-1.7  
-- looking for PCL_POINT_CLOUD_EDITOR
-- Found PCL_POINT_CLOUD_EDITOR: /usr/include/pcl-1.7  
-- Found PCL: /usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/usr/lib/x86_64-linux-gnu/libpthread.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_common.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_common.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;optimized;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_kdtree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_octree.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_search.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_search.so;/usr/lib/libOpenNI.so;vtkImagingStencil;vtkCommonComputationalGeometry;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkImagingCore;vtkCommonExecutionModel;vtkFiltersAMR;vtkFiltersGeneral;vtkFiltersCore;vtkParallelCore;vtkIOLegacy;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersGeometry;vtkFiltersSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkRenderingVolume;vtkIOParallelNetCDF;vtkParallelMPI;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5_hl.so;vtkRenderingOpenGL;vtkIOLSDyna;vtkIOXML;vtkIOGeometry;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkLocalExample;vtkInfovisCore;vtkGeovisCore;vtkInfovisLayout;vtkViewsCore;vtkproj4;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkTestingGenericBridge;/usr/lib/libgl2ps.so;verdict;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkFiltersImaging;vtkIOMINC;vtkRenderingLOD;vtkViewsQt;vtkGUISupportQt;vtkViewsInfovis;vtkChartsCore;vtkRenderingContext2D;vtkRenderingLabel;vtkRenderingImage;vtkFiltersFlowPaths;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersReebGraph;vtkViewsContext2D;vtkIOXdmf2;vtkIOAMR;vtkRenderingContextOpenGL;vtkImagingStatistics;vtkIOParallel;vtkFiltersParallel;vtkIONetCDF;vtkexoIIc;vtkGUISupportQtOpenGL;vtkIOParallelLSDyna;vtkFiltersParallelGeometry;vtkGUISupportQtWebkit;vtkIOPLY;vtkWrappingTools;vtkFiltersHyperTree;vtkRenderingVolumeOpenGL;vtkIOExodus;vtkIOPostgreSQL;vtkIOSQL;sqlite3;vtkWrappingJava;vtkFiltersParallelFlowPaths;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersParallelImaging;vtkRenderingParallelLIC;vtkRenderingLIC;vtkInteractionImage;vtkFiltersPython;vtkWrappingPythonCore;vtkIOParallelExodus;vtkFiltersGeneric;vtkIOVideo;vtkRenderingQt;vtkFiltersTexture;vtkIOInfovis;vtkGUISupportQtSQL;vtkRenderingFreeTypeOpenGL;vtkInfovisBoostGraphAlgorithms;vtkRenderingGL2PS;vtkIOGeoJSON;vtkFiltersVerdict;vtkViewsGeovis;vtkIOImport;vtkTestingIOSQL;vtkPythonInterpreter;vtkIOODBC;vtkIOEnSight;vtkIOMySQL;vtkRenderingMatplotlib;vtkDomainsChemistry;vtkIOExport;vtkFiltersParallelMPI;vtkIOParallelXML;vtkTestingRendering;vtkIOMPIParallel;vtkParallelMPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL;optimized;/usr/lib/x86_64-linux-gnu/libpcl_io.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_io.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_sample_consensus.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_filters.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_features.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_features.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_segmentation.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_surface.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_registration.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_recognition.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_keypoints.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_visualization.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_people.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_people.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_outofcore.so;optimized;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;debug;/usr/lib/x86_64-linux-gnu/libpcl_tracking.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;/usr/lib/x86_64-linux-gnu/libpthread.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;vtkImagingStencil;vtkCommonComputationalGeometry;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkImagingCore;vtkCommonExecutionModel;vtkFiltersAMR;vtkFiltersGeneral;vtkFiltersCore;vtkParallelCore;vtkIOLegacy;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;vtkInteractionWidgets;vtkFiltersHybrid;vtkImagingSources;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkalglib;vtkFiltersGeometry;vtkFiltersSources;vtkFiltersModeling;vtkImagingGeneral;vtkImagingHybrid;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkRenderingVolume;vtkIOParallelNetCDF;vtkParallelMPI;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libpthread.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/serial/lib/libhdf5_hl.so;vtkRenderingOpenGL;vtkIOLSDyna;vtkIOXML;vtkIOGeometry;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkLocalExample;vtkInfovisCore;vtkGeovisCore;vtkInfovisLayout;vtkViewsCore;vtkproj4;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkTestingGenericBridge;/usr/lib/libgl2ps.so;verdict;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkFiltersImaging;vtkIOMINC;vtkRenderingLOD;vtkViewsQt;vtkGUISupportQt;vtkViewsInfovis;vtkChartsCore;vtkRenderingContext2D;vtkRenderingLabel;vtkRenderingImage;vtkFiltersFlowPaths;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersReebGraph;vtkViewsContext2D;vtkIOXdmf2;vtkIOAMR;vtkRenderingContextOpenGL;vtkImagingStatistics;vtkIOParallel;vtkFiltersParallel;vtkIONetCDF;vtkexoIIc;vtkGUISupportQtOpenGL;vtkIOParallelLSDyna;vtkFiltersParallelGeometry;vtkGUISupportQtWebkit;vtkIOPLY;vtkWrappingTools;vtkFiltersHyperTree;vtkRenderingVolumeOpenGL;vtkIOExodus;vtkIOPostgreSQL;vtkIOSQL;sqlite3;vtkWrappingJava;vtkFiltersParallelFlowPaths;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersParallelImaging;vtkRenderingParallelLIC;vtkRenderingLIC;vtkInteractionImage;vtkFiltersPython;vtkWrappingPythonCore;vtkIOParallelExodus;vtkFiltersGeneric;vtkIOVideo;vtkRenderingQt;vtkFiltersTexture;vtkIOInfovis;vtkGUISupportQtSQL;vtkRenderingFreeTypeOpenGL;vtkInfovisBoostGraphAlgorithms;vtkRenderingGL2PS;vtkIOGeoJSON;vtkFiltersVerdict;vtkViewsGeovis;vtkIOImport;vtkTestingIOSQL;vtkPythonInterpreter;vtkIOODBC;vtkIOEnSight;vtkIOMySQL;vtkRenderingMatplotlib;vtkDomainsChemistry;vtkIOExport;vtkFiltersParallelMPI;vtkIOParallelXML;vtkTestingRendering;vtkIOMPIParallel;vtkParallelMPI4Py;vtkFiltersSMP;vtkFiltersSelection;vtkIOVPIC;VPIC;vtkImagingMath;vtkImagingMorphological;vtkRenderingParallel;vtkRenderingFreeTypeFontConfig;vtkIOFFMPEG;vtkIOMPIImage;vtkIOGDAL  
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   filesystem
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jiajie/body-recontruction/surfelwarp/build1

BTW,i run the code with GTX 1660ti ,6 GB.But i can't find its Compute Capability in Nvidia.com,i just set it to 61.

could u help me to find out what's wrong with my confg? Thanks!

Error: Nan in node candidate

I've run the surfelwarp_app and it printed error ${project_root}/core/geometry/WarpFieldUpdater.cpp:24: Nan in code candidate

Actually, in the case of The 0th Frame, the code was executed and the above error message was outputted in the 1th Frame.

I thick this is a CUDA setting problem. I want to know how to fix this error...

My environment is ubuntu 16.04, GTX TITAN X cuda9.0 using PCL.

make error: "Matrix3f" is undefined

The error is related to Eigen I think, and I change the common_types.h by
#include <external/eigen3.4/Eigen/Eigen>
but it still doesn't work. Hope for some help, thanks.

Logs:

[ 1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_common_utils.cu.o
/home/surfelwarp/common/common_types.h(25): error: identifier "Matrix3f" is undefined

/home/surfelwarp/common/common_types.h(25): error: expected a ";"

/home/surfelwarp/common/common_types.h(26): error: identifier "Vector3f" is undefined

/home/surfelwarp/common/common_types.h(26): error: expected a ";"

/home/surfelwarp/common/common_types.h(27): error: identifier "Matrix4f" is undefined

/home/surfelwarp/common/common_types.h(27): error: expected a ";"

/home/surfelwarp/common/common_types.h(28): error: identifier "Vector4f" is undefined

/home/surfelwarp/common/common_types.h(28): error: expected a ";"

/home/surfelwarp/common/common_types.h(29): error: identifier "Matrix6f" is undefined

/home/surfelwarp/common/common_types.h(29): error: expected a ";"

/home/surfelwarp/common/common_types.h(30): error: identifier "Vector6f" is undefined

/home/surfelwarp/common/common_types.h(30): error: expected a ";"

/home/surfelwarp/common/common_types.h(31): error: identifier "MatrixXf" is undefined

/home/surfelwarp/common/common_types.h(31): error: expected a ";"

/home/surfelwarp/common/common_types.h(32): error: identifier "VectorXf" is undefined

/home/surfelwarp/common/common_types.h(32): error: expected a ";"

/home/surfelwarp/common/common_types.h(33): error: identifier "Isometry3f" is undefined
......

When I tried 'make' in surfelwarp

I have installed eigen3.3.9 pangolin cilantro in /usr/local/include, and the configuration of cmake surfelwarp has been successfully configured, but make error:

gyc@3Dre:~/Desktop/3D/surfelwarp/build$ make
[ 1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o
/home/gyc/Desktop/3D/surfelwarp/common/logging.h: In destructor ‘surfelwarp::LogMessageFatal::~LogMessageFatal()’:
/home/gyc/Desktop/3D/surfelwarp/common/logging.h:114:49: warning: throw will always call terminate() [-Wterminate]
throw new std::runtime_error(log_stream_.str());
^
/home/gyc/Desktop/3D/surfelwarp/common/logging.h:114:49: note: in C++11 destructors default to noexcept
[ 1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_algorithm_types.cu.o
[ 2%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_common_texture_utils.cu.o
/home/gyc/Desktop/3D/surfelwarp/common/logging.h: In destructor ‘surfelwarp::LogMessageFatal::~LogMessageFatal()’:
/home/gyc/Desktop/3D/surfelwarp/common/logging.h:114:49: warning: throw will always call terminate() [-Wterminate]
throw new std::runtime_error(log_stream_.str());
^
/home/gyc/Desktop/3D/surfelwarp/common/logging.h:114:49: note: in C++11 destructors default to noexcept
[ 2%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_common_utils.cu.o
[ 3%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_data_transfer.cu.o
In file included from /home/gyc/Desktop/3D/surfelwarp/common/data_transfer.h:8:0,
from /home/gyc/Desktop/3D/surfelwarp/common/data_transfer.cu:1:
/home/gyc/Desktop/3D/surfelwarp/common/point_cloud_typedefs.h:13:36: fatal error: cilantro/point_cloud.hpp: 没有那个文件或目录
#include <cilantro/point_cloud.hpp>
^
compilation terminated.
CMake Error at common_lib_generated_data_transfer.cu.o.cmake:220 (message):
Error generating
/home/gyc/Desktop/3D/surfelwarp/build/common/CMakeFiles/common_lib.dir//./common_lib_generated_data_transfer.cu.o

common/CMakeFiles/common_lib.dir/build.make:101: recipe for target 'common/CMakeFiles/common_lib.dir/common_lib_generated_data_transfer.cu.o' failed
make[2]: *** [common/CMakeFiles/common_lib.dir/common_lib_generated_data_transfer.cu.o] Error 1
CMakeFiles/Makefile2:337: recipe for target 'common/CMakeFiles/common_lib.dir/all' failed
make[1]: *** [common/CMakeFiles/common_lib.dir/all] Error 2
Makefile:100: recipe for target 'all' failed
make: *** [all] Error 2

a error when running the demo

when I‘m running the demo under cuda9.1 and cilentro on 2080Ti，there is a error at line534 of SurfelFusionHandler.cu，It seems that there is something wrong about the cudaMemcpyAsync.Does anyone know why？thx！

how to run this demo with my own data?

A very nice work !, but I don't down how to run this demo with my own data. When I click the link in the pic,
it report 404 error. At the same time, I want to know how to convert my data into the format of VolumeDeform. Is there an example for reference?

how to visualize the program output while running?

I've run the surfelwarp_app and it execute normally and produce png output in the folder, but I can't see the output when running.

When I change the glfwWindowHint(GLFW_VISIBLE, GL_TRUE) in surfelwarp::Renderer::initGLFW(), it create a window and has an error of no response.

My environment is ubuntu16.04 RTX2070 cuda10.0, using cilantro

Some cilantro files have moved

e.g. the SurfelWarp code refers to #include <cilantro/point_cloud.hpp> which doesn't exist - is now cilantro/utilities/point_cloud.hpp

Get rid of PCL dependency

This is, in a sense, a feature request, or, to be more exact, an enhancement request.

PCL's versions are not very backward-compatible, and building just the right PCL with just the right feature support means messing with the dependency hell so very inherent to PCL.

To give some idea, just to deal with the old PCL version + support for only the older version of CUDA already took me over six hours to resolve, and I'm not done yet.

My recommendation is to keep this issue open even if the maintainers decide they don't want to address this right now. Maybe, someone will come up with a PR, IDK.

build failed on Ubuntu 18.04 + cuda-9 + cilantro

OS & env

cat /etc/issue
# Ubuntu 18.04.3 LTS \n \l

gcc -v
# gcc version 6.5.0 20181026 (Ubuntu 6.5.0-2ubuntu1~18.04) 

which nvcc
# /usr/local/cuda-9.0/bin/nvcc
nvcc -V 
# nvcc: NVIDIA (R) Cuda compiler driver
# Copyright (c) 2005-2017 NVIDIA Corporation
# Built on Fri_Sep__1_21:08:03_CDT_2017
# Cuda compilation tools, release 9.0, V9.0.176

# system installed eigen 
grep -E " EIGEN_\w*_VERSION " /usr/include/eigen3/Eigen/src/Core/util/Macros.h
#define EIGEN_WORLD_VERSION 3
#define EIGEN_MAJOR_VERSION 3
#define EIGEN_MINOR_VERSION 4

How to reproduce error

|-- data
    |-- surfelwarp
        |-- build 
        ...
    |-- Pangolin
        |-- build_static
        |-- install_static
        ...
    |-- cilantro
        |-- build_static
        |-- install_static
        ...

Building cilantro and Pangolin using system installed eigen by following https://github.com/weigao95/surfelwarp/blob/master/doc/cilantro_build.md.
build

cd /data/surfelwarp

mkdir build && cd build

cmake -DCUDA_ARCH=61 \
-DVISUALIZATION_LIBRARY=cilantro \
-Dcilantro_DIR=../../cilantro/install_static/lib/cmake/cilantro \
-DPangolin_DIR=../../Pangolin/install_static/lib/cmake/Pangolin ..

make

The error message is as follow:

[  1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o
In file included from /usr/local/cuda-9.0/include/common_functions.h:50:0,
                 from /usr/local/cuda-9.0/include/cuda_runtime.h:115,
                 from <command-line>:0:
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: error: token ""__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: note: in definition of macro ‘__CUDACC_VER__’
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: error: token ""__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: note: in definition of macro ‘__CUDACC_VER__’
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: error: token ""__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: note: in definition of macro ‘__CUDACC_VER__’
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: error: token ""__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: note: in definition of macro ‘__CUDACC_VER__’
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: error: token ""__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."" is not valid in preprocessor expressions
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^
/usr/local/cuda-9.0/include/crt/common_functions.h:64:24: note: in definition of macro ‘__CUDACC_VER__’
 #define __CUDACC_VER__ "__CUDACC_VER__ is no longer supported.  Use __CUDACC_VER_MAJOR__, __CUDACC_VER_MINOR__, and __CUDACC_VER_BUILD__ instead."
                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
CMake Error at common_lib_generated_sanity_check.cu.o.cmake:219 (message):
  Error generating
  /data/surfelwarp/build/common/CMakeFiles/common_lib.dir//./common_lib_generated_sanity_check.cu.o


common/CMakeFiles/common_lib.dir/build.make:91: recipe for target 'common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o' failed
make[2]: *** [common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o] Error 1
CMakeFiles/Makefile2:103: recipe for target 'common/CMakeFiles/common_lib.dir/all' failed
make[1]: *** [common/CMakeFiles/common_lib.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

fatal error: pcl/visualization/pcl_visualizer.h: No such file or directory

I decided to try the compilation in another workstation with Ubuntu 16.04 and CUDA 10.2. However, I get the following error fatal error: pcl/visualization/pcl_visualizer.h: No such file or directory.

I added to the CMakeLists.txt the following lines:

set(CUDA_ARCH "75")
set(VISUALIZATION_LIBRARY=cilantro)
set(cilantro_DIR "/home/tribta/dev/cilantro")

and I uncommented line 54
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

Then, I tried to compile:

tribta@samt-HP-Z8-G4-Workstation:~/dev/surfelwarp/build$ cmake ..
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc - works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ - works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda-10.2 (found suitable version "10.2", minimum required is "9") 
-- Checking for module 'eigen3'
--   Found eigen3, version 3.2.92
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (eigen) does
  not match the name of the calling package (PCL).  This can lead to problems
  in calling code that expects `find_package` result variables (e.g.,
  `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:146 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:631 (find_eigen)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:836 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found eigen: /usr/include/eigen3  
-- Found Boost: /home/tribta/dev/libboost/installation/boost_1_72_0 (found suitable version "1.72.0", minimum required is "1.40.0") found components: system filesystem thread date_time iostreams chrono atomic regex 
-- Checking for module 'libopenni'
--   Found libopenni, version 1.5.4.0
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (openni)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:228 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:637 (find_openni)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:833 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found openni: /usr/lib/libOpenNI.so  
-- Checking for module 'libopenni2'
--   No package 'libopenni2' found
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (OpenNI2)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:273 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:639 (find_openni2)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:833 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Could NOT find OpenNI2 (missing: OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS) 
** WARNING ** io features related to openni2 will be disabled
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (ensenso)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:305 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:641 (find_ensenso)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:833 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Could NOT find ensenso (missing: ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) 
** WARNING ** io features related to ensenso will be disabled
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (DAVIDSDK)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:339 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:643 (find_davidSDK)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:833 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Could NOT find DAVIDSDK (missing: DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
** WARNING ** io features related to davidSDK will be disabled
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (DSSDK) does
  not match the name of the calling package (PCL).  This can lead to problems
  in calling code that expects `find_package` result variables (e.g.,
  `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:381 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:645 (find_dssdk)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:833 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Could NOT find DSSDK (missing: _DSSDK_LIBRARIES) 
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (libusb-1.0)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:508 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:651 (find_libusb)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:833 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found libusb-1.0: /usr/include  
** WARNING ** io features related to libusb-1.0 will be disabled
-- Checking for module 'flann'
--   Found flann, version 1.8.4
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (Flann) does
  not match the name of the calling package (PCL).  This can lead to problems
  in calling code that expects `find_package` result variables (e.g.,
  `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:466 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:633 (find_flann)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:836 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a  
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (Flann) does
  not match the name of the calling package (PCL).  This can lead to problems
  in calling code that expects `find_package` result variables (e.g.,
  `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:466 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:633 (find_flann)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:836 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (qhull) does
  not match the name of the calling package (PCL).  This can lead to problems
  in calling code that expects `find_package` result variables (e.g.,
  `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:178 (find_package_handle_standard_args)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:635 (find_qhull)
  /usr/local/share/pcl-1.8/PCLConfig.cmake:833 (find_external_library)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Could NOT find qhull (missing: QHULL_LIBRARY) 
** WARNING ** surface features related to qhull will be disabled
-- looking for PCL_COMMON
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_COMMON)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so  
-- looking for PCL_OCTREE
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_OCTREE)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so  
-- looking for PCL_IO
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_IO)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_IO: /usr/local/lib/libpcl_io.so  
-- looking for PCL_KDTREE
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_KDTREE)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so  
-- looking for PCL_SEARCH
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_SEARCH)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so  
-- looking for PCL_SAMPLE_CONSENSUS
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SAMPLE_CONSENSUS) does not match the name of the calling package
  (PCL).  This can lead to problems in calling code that expects
  `find_package` result variables (e.g., `_FOUND`) to follow a certain
  pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so  
-- looking for PCL_FILTERS
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_FILTERS) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so  
-- looking for PCL_2D
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_2D)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:900 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_2D: /usr/local/include/pcl-1.8  
-- looking for PCL_GEOMETRY
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_GEOMETRY) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:900 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.8  
-- looking for PCL_FEATURES
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_FEATURES) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so  
-- looking for PCL_ML
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_ML)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_ML: /usr/local/lib/libpcl_ml.so  
-- looking for PCL_SEGMENTATION
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SEGMENTATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so  
-- looking for PCL_SURFACE
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_SURFACE) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so  
-- looking for PCL_REGISTRATION
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_REGISTRATION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so  
-- looking for PCL_KEYPOINTS
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_KEYPOINTS) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.so  
-- looking for PCL_TRACKING
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_TRACKING) does not match the name of the calling package (PCL).  This
  can lead to problems in calling code that expects `find_package` result
  variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.so  
-- looking for PCL_RECOGNITION
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args`
  (PCL_RECOGNITION) does not match the name of the calling package (PCL).
  This can lead to problems in calling code that expects `find_package`
  result variables (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.so  
-- looking for PCL_STEREO
CMake Warning (dev) at /opt/cmake-3.17.1-Linux-x86_64/share/cmake-3.17/Modules/FindPackageHandleStandardArgs.cmake:272 (message):
  The package name passed to `find_package_handle_standard_args` (PCL_STEREO)
  does not match the name of the calling package (PCL).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.8/PCLConfig.cmake:897 (find_package_handle_standard_args)
  CMakeLists.txt:96 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.so  
-- Found PCL: /home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_system.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_filesystem.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_thread.so;-lpthread;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_date_time.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_iostreams.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_chrono.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_atomic.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_regex.so;optimized;/usr/local/lib/libpcl_common.so;debug;/usr/local/lib/libpcl_common.so;optimized;/usr/local/lib/libpcl_octree.so;debug;/usr/local/lib/libpcl_octree.so;/usr/lib/libOpenNI.so;vtkChartsCore;vtkCommonColor;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkInfovisCore;vtkFiltersExtraction;vtkCommonExecutionModel;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkftgl;vtkDICOMParser;vtkDomainsChemistry;vtkIOXML;vtkIOGeometry;vtkIOCore;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkFiltersAMR;vtkParallelCore;vtkIOLegacy;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelFlowPaths;vtkParallelMPI;vtkFiltersParallelGeometry;vtkFiltersParallelImaging;vtkFiltersParallelMPI;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersPython;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkWrappingPythonCore;vtkWrappingTools;vtkFiltersReebGraph;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGUISupportQt;vtkInteractionStyle;vtkRenderingOpenGL;vtkImagingHybrid;vtkIOImage;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkGUISupportQtOpenGL;vtkGUISupportQtSQL;vtkIOSQL;sqlite3;vtkGUISupportQtWebkit;vtkViewsQt;vtkViewsInfovis;vtkInfovisLayout;vtkRenderingLabel;vtkViewsCore;vtkInteractionWidgets;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;vtkGeovisCore;vtkproj4;vtkIOAMR;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5_hl.so;/usr/lib/openmpi/lib/libmpi.so;vtkIOEnSight;vtkIOExodus;vtkexoIIc;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;/usr/lib/libgl2ps.so;vtkIOFFMPEG;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkIOGDAL;vtkIOGeoJSON;vtkIOImport;vtkIOInfovis;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkIOLSDyna;vtkIOMINC;vtkIOMPIImage;vtkIOMPIParallel;vtkIOMySQL;vtkIONetCDF;vtkIOODBC;vtkIOPLY;vtkIOParallel;vtkIOParallelExodus;vtkIOParallelLSDyna;vtkIOParallelNetCDF;vtkIOParallelXML;vtkIOPostgreSQL;vtkIOVPIC;VPIC;vtkIOVideo;vtkIOXdmf2;vtkxdmf2;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInfovisBoostGraphAlgorithms;vtkInteractionImage;vtkLocalExample;vtkParallelMPI4Py;vtkPythonInterpreter;vtkRenderingExternal;vtkRenderingFreeTypeFontConfig;vtkRenderingFreeTypeOpenGL;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingMatplotlib;vtkRenderingParallel;vtkRenderingParallelLIC;vtkRenderingQt;vtkRenderingVolumeOpenGL;vtkTestingGenericBridge;vtkTestingIOSQL;vtkTestingRendering;vtkViewsContext2D;vtkViewsGeovis;vtkWrappingJava;optimized;/usr/local/lib/libpcl_io.so;debug;/usr/local/lib/libpcl_io.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;optimized;/usr/local/lib/libpcl_kdtree.so;debug;/usr/local/lib/libpcl_kdtree.so;optimized;/usr/local/lib/libpcl_search.so;debug;/usr/local/lib/libpcl_search.so;optimized;/usr/local/lib/libpcl_sample_consensus.so;debug;/usr/local/lib/libpcl_sample_consensus.so;optimized;/usr/local/lib/libpcl_filters.so;debug;/usr/local/lib/libpcl_filters.so;optimized;/usr/local/lib/libpcl_features.so;debug;/usr/local/lib/libpcl_features.so;optimized;/usr/local/lib/libpcl_ml.so;debug;/usr/local/lib/libpcl_ml.so;optimized;/usr/local/lib/libpcl_segmentation.so;debug;/usr/local/lib/libpcl_segmentation.so;optimized;/usr/local/lib/libpcl_surface.so;debug;/usr/local/lib/libpcl_surface.so;optimized;/usr/local/lib/libpcl_registration.so;debug;/usr/local/lib/libpcl_registration.so;optimized;/usr/local/lib/libpcl_keypoints.so;debug;/usr/local/lib/libpcl_keypoints.so;optimized;/usr/local/lib/libpcl_tracking.so;debug;/usr/local/lib/libpcl_tracking.so;optimized;/usr/local/lib/libpcl_recognition.so;debug;/usr/local/lib/libpcl_recognition.so;optimized;/usr/local/lib/libpcl_stereo.so;debug;/usr/local/lib/libpcl_stereo.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_system.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_filesystem.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_thread.so;-lpthread;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_date_time.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_iostreams.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_chrono.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_atomic.so;/home/tribta/dev/libboost/installation/boost_1_72_0/stage/lib/libboost_regex.so;/usr/lib/libOpenNI.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;vtkChartsCore;vtkCommonColor;vtkCommonDataModel;vtkCommonMath;vtkCommonCore;vtksys;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkInfovisCore;vtkFiltersExtraction;vtkCommonExecutionModel;vtkFiltersCore;vtkFiltersGeneral;vtkCommonComputationalGeometry;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkRenderingContext2D;vtkRenderingCore;vtkFiltersGeometry;vtkFiltersSources;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;/usr/lib/x86_64-linux-gnu/libz.so;vtkftgl;vtkDICOMParser;vtkDomainsChemistry;vtkIOXML;vtkIOGeometry;vtkIOCore;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkFiltersAMR;vtkParallelCore;vtkIOLegacy;vtkFiltersFlowPaths;vtkFiltersGeneric;vtkFiltersHybrid;vtkImagingSources;vtkFiltersHyperTree;vtkFiltersImaging;vtkImagingGeneral;vtkFiltersModeling;vtkFiltersParallel;vtkFiltersParallelFlowPaths;vtkParallelMPI;vtkFiltersParallelGeometry;vtkFiltersParallelImaging;vtkFiltersParallelMPI;vtkFiltersParallelStatistics;vtkFiltersProgrammable;vtkFiltersPython;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkWrappingPythonCore;vtkWrappingTools;vtkFiltersReebGraph;vtkFiltersSMP;vtkFiltersSelection;vtkFiltersTexture;vtkFiltersVerdict;verdict;vtkGUISupportQt;vtkInteractionStyle;vtkRenderingOpenGL;vtkImagingHybrid;vtkIOImage;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;vtkGUISupportQtOpenGL;vtkGUISupportQtSQL;vtkIOSQL;sqlite3;vtkGUISupportQtWebkit;vtkViewsQt;vtkViewsInfovis;vtkInfovisLayout;vtkRenderingLabel;vtkViewsCore;vtkInteractionWidgets;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;vtkGeovisCore;vtkproj4;vtkIOAMR;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5_hl.so;/usr/lib/openmpi/lib/libmpi.so;vtkIOEnSight;vtkIOExodus;vtkexoIIc;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;/usr/lib/libgl2ps.so;vtkIOFFMPEG;vtkIOMovie;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkIOGDAL;vtkIOGeoJSON;vtkIOImport;vtkIOInfovis;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkIOLSDyna;vtkIOMINC;vtkIOMPIImage;vtkIOMPIParallel;vtkIOMySQL;vtkIONetCDF;vtkIOODBC;vtkIOPLY;vtkIOParallel;vtkIOParallelExodus;vtkIOParallelLSDyna;vtkIOParallelNetCDF;vtkIOParallelXML;vtkIOPostgreSQL;vtkIOVPIC;VPIC;vtkIOVideo;vtkIOXdmf2;vtkxdmf2;vtkImagingMath;vtkImagingMorphological;vtkImagingStatistics;vtkImagingStencil;vtkInfovisBoostGraphAlgorithms;vtkInteractionImage;vtkLocalExample;vtkParallelMPI4Py;vtkPythonInterpreter;vtkRenderingExternal;vtkRenderingFreeTypeFontConfig;vtkRenderingFreeTypeOpenGL;vtkRenderingImage;vtkRenderingLIC;vtkRenderingLOD;vtkRenderingMatplotlib;vtkRenderingParallel;vtkRenderingParallelLIC;vtkRenderingQt;vtkRenderingVolumeOpenGL;vtkTestingGenericBridge;vtkTestingIOSQL;vtkTestingRendering;vtkViewsContext2D;vtkViewsGeovis;vtkWrappingJava  
-- Found OpenCV: /opt/ros/kinetic (found version "3.3.1") 
-- Found Boost: /home/tribta/dev/libboost/installation/boost_1_72_0 (found version "1.72.0") found components: system filesystem 
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tribta/dev/surfelwarp/build

tribta@samt-HP-Z8-G4-Workstation:~/dev/surfelwarp/build$ make
[  1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o
[  1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_algorithm_types.cu.o
[  2%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_common_texture_utils.cu.o
[  2%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_common_utils.cu.o
[  3%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_data_transfer.cu.o
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

Scanning dependencies of target common_lib
[  3%] Building CXX object common/CMakeFiles/common_lib.dir/BinaryFileStream.cpp.o
[  4%] Building CXX object common/CMakeFiles/common_lib.dir/ConfigParser.cpp.o
[  5%] Building CXX object common/CMakeFiles/common_lib.dir/Constants.cpp.o
[  5%] Building CXX object common/CMakeFiles/common_lib.dir/containers/device_memory.cpp.o
[  6%] Building CXX object common/CMakeFiles/common_lib.dir/sanity_check.cpp.o
[  7%] Linking CXX static library libcommon_lib.a
[  7%] Built target common_lib
[  8%] Building NVCC (Device) object math/CMakeFiles/math_lib.dir/math_lib_generated_ldlt6x6.cu.o
Scanning dependencies of target math_lib
[  9%] Building CXX object math/CMakeFiles/math_lib.dir/device_mat.cpp.o
[  9%] Building CXX object math/CMakeFiles/math_lib.dir/eigen_device_transfer.cpp.o
[ 10%] Linking CXX static library libmath_lib.a
[ 10%] Built target math_lib
[ 11%] Building NVCC (Device) object pcg_solver/CMakeFiles/solver_lib.dir/solver_lib_generated_block6x6_pcg_weber.cu.o
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 437; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 459; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 481; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 503; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 525; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 658; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 680; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 702; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 724; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 746; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1564; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1586; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1608; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1630; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1652; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1751; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1773; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1795; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1817; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 1839; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2320; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2342; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2364; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2386; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2408; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2506; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2528; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2550; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2572; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 2594; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3071; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3093; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3115; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3137; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3159; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3257; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3279; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3301; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3323; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3345; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3510; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3532; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3554; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3576; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 3598; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4023; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4045; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4067; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4089; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4111; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4209; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4231; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4253; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4275; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-7_block6x6_pcg_weber.compute_60.ptx, line 4297; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 437; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 459; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 481; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 503; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 525; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 658; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 680; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 702; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 724; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 746; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1564; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1586; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1608; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1630; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1652; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1751; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1773; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1795; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1817; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 1839; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2320; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2342; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2364; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2386; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2408; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2506; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2528; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2550; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2572; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 2594; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3071; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3093; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3115; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3137; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3159; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3257; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3279; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3301; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3323; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3345; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3510; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3532; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3554; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3576; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 3598; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4023; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4045; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4067; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4089; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4111; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4209; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4231; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4253; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4275; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-6_block6x6_pcg_weber.compute_50.ptx, line 4297; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 437; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 459; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 481; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 503; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 525; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 658; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 680; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 702; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 724; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 746; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1564; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1586; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1608; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1630; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1652; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1751; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1773; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1795; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1817; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 1839; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2320; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2342; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2364; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2386; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2408; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2506; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2528; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2550; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2572; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 2594; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3071; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3093; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3115; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3137; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3159; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3257; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3279; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3301; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3323; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3345; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3510; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3532; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3554; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3576; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 3598; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4023; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4045; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4067; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4089; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4111; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4209; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4231; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4253; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4275; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
ptxas /tmp/tmpxft_000059b7_00000000-5_block6x6_pcg_weber.compute_61.ptx, line 4297; warning : Instruction 'shfl' without '.sync' is deprecated since PTX ISA version 6.0 and will be discontinued in a future PTX ISA version
[ 11%] Building NVCC (Device) object pcg_solver/CMakeFiles/solver_lib.dir/solver_lib_generated_BlockPCG.cu.o
Scanning dependencies of target solver_lib
[ 12%] Building CXX object pcg_solver/CMakeFiles/solver_lib.dir/BinBlockCSR.cpp.o
[ 12%] Building CXX object pcg_solver/CMakeFiles/solver_lib.dir/BlockPCG6x6.cpp.o
[ 13%] Building CXX object pcg_solver/CMakeFiles/solver_lib.dir/block6x6_pcg_weber.cpp.o
[ 14%] Linking CXX static library libsolver_lib.a
[ 14%] Built target solver_lib
[ 15%] Building NVCC (Device) object hashing/CMakeFiles/hash_lib.dir/hash_lib_generated_hash_interface.cu.o
[ 15%] Building NVCC (Device) object hashing/CMakeFiles/hash_lib.dir/hash_lib_generated_CompactCuckooTable.cu.o
[ 16%] Building NVCC (Device) object hashing/CMakeFiles/hash_lib.dir/hash_lib_generated_CompactProbeTable.cu.o
[ 17%] Building NVCC (Device) object hashing/CMakeFiles/hash_lib.dir/hash_lib_generated_CompactionHashSet.cu.o
[ 17%] Building NVCC (Device) object hashing/CMakeFiles/hash_lib.dir/hash_lib_generated_MultiKeyTable.cu.o
[ 18%] Building NVCC (Device) object hashing/CMakeFiles/hash_lib.dir/hash_lib_generated_UniqueKeyTable.cu.o
Scanning dependencies of target hash_lib
[ 18%] Building CXX object hashing/CMakeFiles/hash_lib.dir/PrimeTableSizer.cpp.o
[ 19%] Building CXX object hashing/CMakeFiles/hash_lib.dir/hash_common.cpp.o
[ 20%] Linking CXX static library libhash_lib.a
[ 20%] Built target hash_lib
[ 21%] Building NVCC (Device) object visualization/CMakeFiles/visualization_lib.dir/visualization_lib_generated_VisualizationTransform.cu.o
/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::buildMaps" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/stitching/detail/warpers.hpp(213): warning: overloaded virtual function "cv::detail::PlaneWarper::warp" is only partially overridden in class "cv::detail::AffineWarper"

/opt/ros/kinetic/include/opencv-3.3.1-dev/opencv2/videostab/motion_stabilizing.hpp(106): warning: function "cv::videostab::IMotionStabilizer::stabilize(int, const std::vector<cv::Mat, std::allocator<cv::Mat>> &, std::pair<int, int>, cv::Mat *)" is hidden by "cv::videostab::GaussianMotionFilter::stabilize" -- virtual function override intended?

Scanning dependencies of target visualization_lib
[ 21%] Building CXX object visualization/CMakeFiles/visualization_lib.dir/ImageVisualizer.cpp.o
[ 22%] Building CXX object visualization/CMakeFiles/visualization_lib.dir/PointCloudVisualizer.cpp.o
/home/tribta/dev/surfelwarp/visualization/PointCloudVisualizer.cpp:14:46: fatal error: pcl/visualization/pcl_visualizer.h: No such file or directory
compilation terminated.
visualization/CMakeFiles/visualization_lib.dir/build.make:102: recipe for target 'visualization/CMakeFiles/visualization_lib.dir/PointCloudVisualizer.cpp.o' failed
make[2]: *** [visualization/CMakeFiles/visualization_lib.dir/PointCloudVisualizer.cpp.o] Error 1
CMakeFiles/Makefile2:512: recipe for target 'visualization/CMakeFiles/visualization_lib.dir/all' failed
make[1]: *** [visualization/CMakeFiles/visualization_lib.dir/all] Error 2
Makefile:103: recipe for target 'all' failed
make: *** [all] Error 2

How can i save the final model as `.off` format ?

I add the code:

//save pointcloud
saveCorrespondedCloud(observation,fused_geometry_idx,save_dir);

in order to save the final model as point cloud format , But i get Segmentation fault error when runing.
The debug logs :

1  Eigen::internal::copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>>, Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>>, Eigen::internal::assign_op<float, float>, 0>, 0, 3>::run                                                                                                                                                                                                                                                                                                   AssignEvaluator.h          207 0x5555556d7093 
2  Eigen::internal::dense_assignment_loop<Eigen::internal::generic_dense_assignment_kernel<Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>>, Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>>, Eigen::internal::assign_op<float, float>, 0>, 3, 2>::run                                                                                                                                                                                                                                                                                                                                     AssignEvaluator.h          435 0x5555556d7093 
3  Eigen::internal::call_dense_assignment_loop<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>, Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>, Eigen::internal::assign_op<float, float>>                                                                                                                                                                                                                                                                                                                                                                                                                                                        AssignEvaluator.h          741 0x5555556d7093 
4  Eigen::internal::Assignment<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>, Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>, Eigen::internal::assign_op<float, float>, Eigen::internal::Dense2Dense, void>::run                                                                                                                                                                                                                                                                                                                                                                                                                               AssignEvaluator.h          879 0x5555556d7093 
5  Eigen::internal::call_assignment_no_alias<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>, Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>, Eigen::internal::assign_op<float, float>>                                                                                                                                                                                                                                                                                                                                                                                                                                                          AssignEvaluator.h          836 0x5555556d7093 
6  Eigen::internal::call_assignment<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>, Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>, Eigen::internal::assign_op<float, float>>(Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>&, Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false> const&, Eigen::internal::assign_op<float, float> const&, Eigen::internal::enable_if<!Eigen::internal::evaluator_assume_aliasing<Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>, Eigen::internal::evaluator_traits<Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>>::Shape>::value, void *>::type) AssignEvaluator.h          804 0x5555556d7093 
7  Eigen::internal::call_assignment<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>, Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>>                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                             AssignEvaluator.h          782 0x5555556d7093 
8  Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<float, 3, -1, 0, 3, -1>, 3, 1, true>>::operator=<Eigen::Block<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 3, 1, false>>                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 Assign.h                   66  0x5555556d7093 
9  transformPointCloud                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           common_point_cloud_utils.h 97  0x5555556d7093 
10 surfelwarp::Visualizer::SaveMatchedCloudPair                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PointCloudVisualizer.cpp   433 0x5555556d7093 
11 surfelwarp::Visualizer::SaveMatchedCloudPair                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PointCloudVisualizer.cpp   446 0x5555556d7093 
12 surfelwarp::Visualizer::SaveMatchedCloudPair                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  PointCloudVisualizer.cpp   461 0x5555556d7093 
13 surfelwarp::SurfelWarpSerial::saveCorrespondedCloud                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           SurfelWarpSerial.cpp       323 0x55555561a5d1 
14 surfelwarp::SurfelWarpSerial::ProcessNextFrameWithReinit                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      SurfelWarpSerial.cpp       284 0x55555561d3df 
15 main                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                          main.cpp                   41  0x5555555fb980

It seems some error occur in:

Visualizer::SaveMatchedCloudPair(
		observation.vertex_config_map,
		geometry.live_vertex_confid.ArrayView(),
        m_camera.GetCamera2WorldEigen(),
		cloud_1_name, cloud_2_name
	);

inside the fuction saveCorrespondedCloud(observation,fused_geometry_idx,save_dir);.

Am I passing the wrong paras ? Could you help me out to see what's wrong?Thank.

How to improve the efficiency of reconstruction

Hello! I implemented your program in Ubuntu, running a data set, but I need 3s to process a frame of image, it looks like your video is more efficient to rebuild, what's the reason?

Error building on Ubuntu 19.04

System

Ubuntu 19.04
Using eigen from libeigen3-dev. Tried building it myself but I get the same error
CUDA 10.1
Latest commits from cilantro and Pangolin as of today.

Error

During compilation I get these errors when building common_lib_generated_sanity_check.cu.o

Output

[ 1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o:
_In file included from /usr/include/eigen3/Eigen/Core:257:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/bsespede/Repositories/surfelwarp/common/common_types.h:16,
from /home/bsespede/Repositories/surfelwarp/common/sanity_check.cu:1:
/usr/include/host_defines.h:54:2: warning: #warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead." [-Wcpp]
#warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead."
^~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:257:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/bsespede/Repositories/surfelwarp/common/common_types.h:16,
from /home/bsespede/Repositories/surfelwarp/common/sanity_check.cu:1:
/usr/include/host_defines.h:54:2: warning: #warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead." [-Wcpp]
#warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead."
^~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:257:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/bsespede/Repositories/surfelwarp/common/common_types.h:16,
from /home/bsespede/Repositories/surfelwarp/common/sanity_check.cu:1:
/usr/include/host_defines.h:54:2: warning: #warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead." [-Wcpp]
#warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead."
^~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:257:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/bsespede/Repositories/surfelwarp/common/common_types.h:16,
from /home/bsespede/Repositories/surfelwarp/common/sanity_check.cu:1:
/usr/include/host_defines.h:54:2: warning: #warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead." [-Wcpp]
#warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead."
^~~~~~~
In file included from /usr/include/eigen3/Eigen/Core:257:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/bsespede/Repositories/surfelwarp/common/common_types.h:16,
from /home/bsespede/Repositories/surfelwarp/common/sanity_check.cu:1:
/usr/include/host_defines.h:54:2: warning: #warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead." [-Wcpp]
#warning "host_defines.h is an internal header file and must not be used directly. This file will be removed in a future CUDA release. Please use cuda_runtime_api.h or cuda_runtime.h instead."
^~~~~~~
/usr/include/eigen3/Eigen/src/Core/MathFunctions.h(1075): warning: calling a constexpr host function("real") from a host device function("abs") is not allowed. The experimental flag '--expt-relaxed-constexpr' can be used to allow this.

/usr/include/eigen3/Eigen/src/Core/MathFunctions.h(1075): warning: calling a constexpr host function("imag") from a host device function("abs") is not allowed. The experimental flag '--expt-relaxed-constexpr' can be used to allow this.

/usr/include/eigen3/Eigen/src/Core/MathFunctions.h(1075): warning: calling a constexpr host function from a host device function is not allowed. The experimental flag '--expt-relaxed-constexpr' can be used to allow this.

/usr/include/eigen3/Eigen/src/Core/MathFunctions.h(1080): warning: calling a constexpr host function("real") from a host device function("abs") is not allowed. The experimental flag '--expt-relaxed-constexpr' can be used to allow this.

/usr/include/eigen3/Eigen/src/Core/MathFunctions.h(1080): warning: calling a constexpr host function("imag") from a host device function("abs") is not allowed. The experimental flag '--expt-relaxed-constexpr' can be used to allow this.

/usr/include/eigen3/Eigen/src/Core/MathFunctions.h(1080): warning: calling a constexpr host function from a host device function is not allowed. The experimental flag '--expt-relaxed-constexpr' can be used to allow this.

/usr/include/eigen3/Eigen/src/Core/arch/CUDA/Half.h(302): warning: calling a host function from a host device function is not allowed

/usr/include/eigen3/Eigen/src/Core/arch/CUDA/Half.h(305): warning: calling a host function from a host device function is not allowed

/usr/include/eigen3/Eigen/src/Core/arch/CUDA/PacketMathHalf.h(81): error: no instance of overloaded function "__ldg" matches the argument list
argument types are: (const Eigen::half *)

2 errors detected in the compilation of "/tmp/tmpxft_00001cb4_00000000-8_sanity_check.compute_61.cpp1.ii".
CMake Error at common_lib_generated_sanity_check.cu.o.cmake:279 (message):
Error generating file
/home/bsespede/Repositories/surfelwarp/build/common/CMakeFiles/common_lib.dir//./common_lib_generated_sanity_check.cu.o

make[2]: *** [common/CMakeFiles/common_lib.dir/build.make:2516: common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:108: common/CMakeFiles/common_lib.dir/all] Error 2
make: *** [Makefile:84: all] Error 2_

[Question] Does surfelwarp assume that the camera always stay still?

In VolumnForm dataset, the camera barely move. And I haven't found any code about coordinate transformation between camera and world.

Does surfelwarp assume that the camera always stay still, and not turn around?

incompatible for higher-level cuda & gpu

when I try to run this code on nividia RTX3090 with cuda11.1,there is a new problem as below:
'shfl' without '.sync' is not supported on .target sm_70 and higher from PTX ISA version 6.4
It seems that the cuda code is not suitable for the novel gpu for some reason.Would you update your code to fit the new feature?I'll appreciate it very much!

How to compile `pangolin` with `Eigen`?

I try to compile surfelwarp on win10 ,with vs2017 ,cuda 10.1 and cilantro,when i compile cilantro,i got an error:Namespace "pangolin" has no member "ToEigen"。But i fail to compile pangolin with eigen3,I set BUILD_PANGOLIN_EIGEN to betrue,and also set EIGEN_INCLUDE_DIR to my Eigen's include folder,but i didnt work for me . Cmake Logs of pangolin,seems not mention eigen at all:

Selecting Windows SDK version 10.0.17763.0 to target Windows 10.0.18362.
Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE) 
Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE) 
Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE) 
Could NOT find PkgConfig (missing: PKG_CONFIG_EXECUTABLE) 
OpenNI2 Found and Enabled
MediaFoundation Found and Enabled
libpng Found and Enabled
libjpeg Found and Enabled
Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) 
Configuring done

I use latest version of Cmake, Eigen version is Eigen 3.3.9 included in surfelwarp/external/eigen3.4.

Failed to Solve on Boxing-like dataset

Hello, I was trying to repeat Boxing using a live camera. It failed to seperate fist from face.
cliped_filter_depth:

reference_phong:

live_phone:

bad_alloc error

Hi,
Last time I encountered an error, I found that it was about GPU memory. So I changed a GPU to TitanXP and solve it, but this time I got a "std::bad_alloc", was it because I didn't have enough memory? (32G)

No package 'libopenni2' found

When I compile the code I get the following message No package 'libopenni2' found

I am on Ubuntu 16.04 and using CUDA 9.0.

-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found CUDA: /usr/local/cuda-9.0 (found suitable version "9.0", minimum required is "9") 
-- Checking for module 'eigen3'
--   No package 'eigen3' found
-- Found eigen: /home/tribta/dev/surfelwarp/external/eigen3.4  
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
--   iostreams
--   serialization
--   chrono
--   atomic
--   regex
-- Checking for module 'libopenni'
--   No package 'libopenni' found
-- Found openni: /usr/lib/libOpenNI.so  
-- Checking for module 'libopenni2'
--   No package 'libopenni2' found
-- Could NOT find OpenNI2 (missing:  OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS) 
** WARNING ** io features related to openni2 will be disabled
-- Could NOT find ensenso (missing:  ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) 
** WARNING ** io features related to ensenso will be disabled
-- Could NOT find DAVIDSDK (missing:  DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
** WARNING ** io features related to davidSDK will be disabled
-- Could NOT find DSSDK (missing:  _DSSDK_LIBRARIES) 
** WARNING ** io features related to dssdk will be disabled
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
but not all the files it references.

-- Found libusb-1.0: /usr/include  
** WARNING ** io features related to libusb-1.0 will be disabled
-- Checking for module 'flann'
--   No package 'flann' found
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a  
-- Checking for module 'flann'
--   No package 'flann' found
-- Checking for module 'libopenni'
--   No package 'libopenni' found
-- Checking for module 'libopenni2'
--   No package 'libopenni2' found
-- Could NOT find OpenNI2 (missing:  OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS) 
** WARNING ** visualization features related to openni2 will be disabled
-- Could NOT find ensenso (missing:  ENSENSO_LIBRARY ENSENSO_INCLUDE_DIR) 
** WARNING ** visualization features related to ensenso will be disabled
-- Could NOT find DAVIDSDK (missing:  DAVIDSDK_LIBRARY DAVIDSDK_INCLUDE_DIR) 
** WARNING ** visualization features related to davidSDK will be disabled
-- Could NOT find DSSDK (missing:  _DSSDK_LIBRARIES) 
** WARNING ** visualization features related to dssdk will be disabled
-- Could NOT find RSSDK (missing:  _RSSDK_LIBRARIES) 
** WARNING ** visualization features related to rssdk will be disabled
-- Found qhull: /usr/lib/x86_64-linux-gnu/libqhull.so  
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so  
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so  
-- looking for PCL_IO
-- Found PCL_IO: /usr/local/lib/libpcl_io.so  
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so  
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so  
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so  
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so  
-- looking for PCL_2D
-- Found PCL_2D: /usr/local/include/pcl-1.8  
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.8  
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so  
-- looking for PCL_ML
-- Found PCL_ML: /usr/local/lib/libpcl_ml.so  
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so  
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /usr/local/lib/libpcl_visualization.so  
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so  
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so  
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.so  
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.so  
-- looking for PCL_RECOGNITION
-- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.so  
-- looking for PCL_STEREO
-- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.so  
-- looking for PCL_OUTOFCORE
-- Found PCL_OUTOFCORE: /usr/local/lib/libpcl_outofcore.so  
-- looking for PCL_PEOPLE
-- Found PCL_PEOPLE: /usr/local/lib/libpcl_people.so  
-- Found PCL: /usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/local/lib/libpcl_common.so;debug;/usr/local/lib/libpcl_common.so;optimized;/usr/local/lib/libpcl_octree.so;debug;/usr/local/lib/libpcl_octree.so;/usr/lib/libOpenNI.so;vtkLocalExample;vtkCommonCore;vtksys;vtkDomainsChemistry;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkFiltersSources;vtkCommonComputationalGeometry;vtkFiltersGeneral;vtkFiltersCore;vtkCommonExecutionModel;vtkIOXML;vtkIOGeometry;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkFiltersGeometry;vtkRenderingMatplotlib;vtkPythonInterpreter;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkWrappingPythonCore;vtkWrappingTools;vtkTestingIOSQL;vtkIOSQL;sqlite3;vtkIOMINC;vtkFiltersHybrid;vtkImagingSources;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5_hl.so;/usr/lib/openmpi/lib/libmpi.so;vtkFiltersParallel;vtkFiltersModeling;vtkParallelCore;vtkIOLegacy;vtkInteractionWidgets;vtkImagingGeneral;vtkImagingHybrid;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;VPIC;vtkInteractionImage;vtkIOParallel;vtkIONetCDF;vtkexoIIc;vtkRenderingParallelLIC;vtkParallelMPI;vtkRenderingLIC;vtkRenderingOpenGL;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkImagingStatistics;/usr/lib/libgl2ps.so;vtkIOParallelXML;vtkImagingMath;vtkFiltersAMR;vtkFiltersFlowPaths;vtkTestingGenericBridge;vtkIOImport;vtkIOGeoJSON;vtkViewsContext2D;vtkRenderingContext2D;vtkViewsCore;vtkFiltersGeneric;vtkInfovisLayout;vtkInfovisCore;vtkIOMPIImage;vtkIOLSDyna;vtkIOExodus;vtkRenderingExternal;vtkIOParallelLSDyna;verdict;vtkGeovisCore;vtkproj4;vtkIOPostgreSQL;vtkIOAMR;vtkViewsInfovis;vtkChartsCore;vtkFiltersImaging;vtkRenderingLabel;vtkGUISupportQtWebkit;vtkViewsQt;vtkGUISupportQt;vtkIOXdmf2;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersParallelMPI;vtkFiltersReebGraph;vtkFiltersParallelImaging;vtkIOGDAL;vtkParallelMPI4Py;vtkIOParallelExodus;vtkFiltersParallelGeometry;vtkRenderingQt;vtkFiltersTexture;vtkIOPLY;vtkIOMPIParallel;vtkFiltersSelection;vtkGUISupportQtSQL;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;vtkRenderingParallel;vtkIOMySQL;vtkInfovisBoostGraphAlgorithms;vtkFiltersProgrammable;vtkIOFFMPEG;vtkIOMovie;vtkTestingRendering;vtkViewsGeovis;vtkFiltersPython;vtkImagingMorphological;vtkWrappingJava;vtkFiltersSMP;vtkRenderingLOD;vtkFiltersParallelStatistics;vtkIOParallelNetCDF;vtkImagingStencil;vtkGUISupportQtOpenGL;vtkRenderingFreeTypeFontConfig;vtkRenderingFreeTypeOpenGL;vtkIOEnSight;vtkIOVPIC;vtkFiltersHyperTree;vtkIOODBC;vtkIOInfovis;vtkFiltersVerdict;vtkFiltersParallelFlowPaths;vtkRenderingImage;vtkIOVideo;vtkRenderingVolumeOpenGL;optimized;/usr/local/lib/libpcl_io.so;debug;/usr/local/lib/libpcl_io.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;optimized;/usr/local/lib/libpcl_kdtree.so;debug;/usr/local/lib/libpcl_kdtree.so;optimized;/usr/local/lib/libpcl_search.so;debug;/usr/local/lib/libpcl_search.so;optimized;/usr/local/lib/libpcl_sample_consensus.so;debug;/usr/local/lib/libpcl_sample_consensus.so;optimized;/usr/local/lib/libpcl_filters.so;debug;/usr/local/lib/libpcl_filters.so;optimized;/usr/local/lib/libpcl_features.so;debug;/usr/local/lib/libpcl_features.so;optimized;/usr/local/lib/libpcl_ml.so;debug;/usr/local/lib/libpcl_ml.so;optimized;/usr/local/lib/libpcl_segmentation.so;debug;/usr/local/lib/libpcl_segmentation.so;optimized;/usr/local/lib/libpcl_visualization.so;debug;/usr/local/lib/libpcl_visualization.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;optimized;/usr/local/lib/libpcl_surface.so;debug;/usr/local/lib/libpcl_surface.so;optimized;/usr/local/lib/libpcl_registration.so;debug;/usr/local/lib/libpcl_registration.so;optimized;/usr/local/lib/libpcl_keypoints.so;debug;/usr/local/lib/libpcl_keypoints.so;optimized;/usr/local/lib/libpcl_tracking.so;debug;/usr/local/lib/libpcl_tracking.so;optimized;/usr/local/lib/libpcl_recognition.so;debug;/usr/local/lib/libpcl_recognition.so;optimized;/usr/local/lib/libpcl_stereo.so;debug;/usr/local/lib/libpcl_stereo.so;optimized;/usr/local/lib/libpcl_outofcore.so;debug;/usr/local/lib/libpcl_outofcore.so;optimized;/usr/local/lib/libpcl_people.so;debug;/usr/local/lib/libpcl_people.so;/usr/lib/x86_64-linux-gnu/libboost_system.so;/usr/lib/x86_64-linux-gnu/libboost_filesystem.so;/usr/lib/x86_64-linux-gnu/libboost_thread.so;/usr/lib/x86_64-linux-gnu/libboost_date_time.so;/usr/lib/x86_64-linux-gnu/libboost_iostreams.so;/usr/lib/x86_64-linux-gnu/libboost_serialization.so;/usr/lib/x86_64-linux-gnu/libboost_chrono.so;/usr/lib/x86_64-linux-gnu/libboost_atomic.so;/usr/lib/x86_64-linux-gnu/libboost_regex.so;optimized;/usr/lib/x86_64-linux-gnu/libqhull.so;debug;/usr/lib/x86_64-linux-gnu/libqhull.so;/usr/lib/libOpenNI.so;optimized;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a;vtkLocalExample;vtkCommonCore;vtksys;vtkDomainsChemistry;vtkCommonDataModel;vtkCommonMath;vtkCommonMisc;vtkCommonSystem;vtkCommonTransforms;vtkFiltersSources;vtkCommonComputationalGeometry;vtkFiltersGeneral;vtkFiltersCore;vtkCommonExecutionModel;vtkIOXML;vtkIOGeometry;vtkIOCore;/usr/lib/x86_64-linux-gnu/libz.so;/usr/lib/x86_64-linux-gnu/libjsoncpp.so;vtkIOXMLParser;/usr/lib/x86_64-linux-gnu/libexpat.so;vtkRenderingCore;vtkCommonColor;vtkFiltersExtraction;vtkFiltersStatistics;vtkImagingFourier;vtkImagingCore;vtkalglib;vtkFiltersGeometry;vtkRenderingMatplotlib;vtkPythonInterpreter;/usr/lib/x86_64-linux-gnu/libpython2.7.so;vtkRenderingFreeType;/usr/lib/x86_64-linux-gnu/libfreetype.so;vtkftgl;vtkWrappingPythonCore;vtkWrappingTools;vtkTestingIOSQL;vtkIOSQL;sqlite3;vtkIOMINC;vtkFiltersHybrid;vtkImagingSources;vtkIOImage;vtkDICOMParser;vtkmetaio;/usr/lib/x86_64-linux-gnu/libjpeg.so;/usr/lib/x86_64-linux-gnu/libpng.so;/usr/lib/x86_64-linux-gnu/libtiff.so;/usr/lib/x86_64-linux-gnu/libnetcdf_c++.so;/usr/lib/x86_64-linux-gnu/libnetcdf.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5.so;/usr/lib/x86_64-linux-gnu/libsz.so;/usr/lib/x86_64-linux-gnu/libdl.so;/usr/lib/x86_64-linux-gnu/libm.so;/usr/lib/x86_64-linux-gnu/hdf5/openmpi/lib/libhdf5_hl.so;/usr/lib/openmpi/lib/libmpi.so;vtkFiltersParallel;vtkFiltersModeling;vtkParallelCore;vtkIOLegacy;vtkInteractionWidgets;vtkImagingGeneral;vtkImagingHybrid;vtkInteractionStyle;vtkRenderingAnnotation;vtkImagingColor;vtkRenderingVolume;VPIC;vtkInteractionImage;vtkIOParallel;vtkIONetCDF;vtkexoIIc;vtkRenderingParallelLIC;vtkParallelMPI;vtkRenderingLIC;vtkRenderingOpenGL;/usr/lib/x86_64-linux-gnu/libtheoraenc.so;/usr/lib/x86_64-linux-gnu/libtheoradec.so;/usr/lib/x86_64-linux-gnu/libogg.so;vtkImagingStatistics;/usr/lib/libgl2ps.so;vtkIOParallelXML;vtkImagingMath;vtkFiltersAMR;vtkFiltersFlowPaths;vtkTestingGenericBridge;vtkIOImport;vtkIOGeoJSON;vtkViewsContext2D;vtkRenderingContext2D;vtkViewsCore;vtkFiltersGeneric;vtkInfovisLayout;vtkInfovisCore;vtkIOMPIImage;vtkIOLSDyna;vtkIOExodus;vtkRenderingExternal;vtkIOParallelLSDyna;verdict;vtkGeovisCore;vtkproj4;vtkIOPostgreSQL;vtkIOAMR;vtkViewsInfovis;vtkChartsCore;vtkFiltersImaging;vtkRenderingLabel;vtkGUISupportQtWebkit;vtkViewsQt;vtkGUISupportQt;vtkIOXdmf2;vtkxdmf2;/usr/lib/x86_64-linux-gnu/libxml2.so;vtkFiltersParallelMPI;vtkFiltersReebGraph;vtkFiltersParallelImaging;vtkIOGDAL;vtkParallelMPI4Py;vtkIOParallelExodus;vtkFiltersParallelGeometry;vtkRenderingQt;vtkFiltersTexture;vtkIOPLY;vtkIOMPIParallel;vtkFiltersSelection;vtkGUISupportQtSQL;vtkIOExport;vtkRenderingGL2PS;vtkRenderingContextOpenGL;vtkRenderingParallel;vtkIOMySQL;vtkInfovisBoostGraphAlgorithms;vtkFiltersProgrammable;vtkIOFFMPEG;vtkIOMovie;vtkTestingRendering;vtkViewsGeovis;vtkFiltersPython;vtkImagingMorphological;vtkWrappingJava;vtkFiltersSMP;vtkRenderingLOD;vtkFiltersParallelStatistics;vtkIOParallelNetCDF;vtkImagingStencil;vtkGUISupportQtOpenGL;vtkRenderingFreeTypeFontConfig;vtkRenderingFreeTypeOpenGL;vtkIOEnSight;vtkIOVPIC;vtkFiltersHyperTree;vtkIOODBC;vtkIOInfovis;vtkFiltersVerdict;vtkFiltersParallelFlowPaths;vtkRenderingImage;vtkIOVideo;vtkRenderingVolumeOpenGL  
-- Found OpenCV: /usr/local (found version "4.0.1") 
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
--   filesystem
-- Configuring done
-- Generating done
-- Build files have been written to: /home/tribta/dev/surfelwarp/build

I'm configuring cilantro

git clone https://github.com/kzampog/cilantro.git
cd cilantro
mkdir build
cd build
cmake ..
make -j

The following error occurs：
In file included from /home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:1:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/image_viewer.hpp: In member function ‘cilantro::ImageViewer& cilantro::ImageViewer::finishFrame()’:
/home/gyc/桌面/3D/cilantro/include/cilantro/image_viewer.hpp:25:58: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
inline ImageViewer& finishFrame() { gl_context_->MakeCurrent(); pangolin::FinishFrame(); return this; }
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp: In member function ‘cilantro::ImageViewer& cilantro::ImageViewer::setImage(void, size_t, size_t, const string&)’:
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:16:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:17:48: error: ‘PixelFormatFromString’ is not a member of ‘pangolin’
gl_pix_format_ = pangolin::GlPixFormat(pangolin::PixelFormatFromString(fmt));
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp: In member function ‘cilantro::ImageViewer& cilantro::ImageViewer::setImage(const pangolin::GlTexture&)’:
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:41:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp: In member function ‘cilantro::ImageViewer& cilantro::ImageViewer::clear()’:
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:55:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp: In member function ‘cilantro::ImageViewer& cilantro::ImageViewer::clearRenderArea()’:
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:61:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp: In member function ‘cilantro::ImageViewer& cilantro::ImageViewer::render()’:
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:68:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp: In member function ‘void cilantro::ImageViewer::init_(const string&, const string&)’:
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:76:23: error: ‘FindContext’ is not a member of ‘pangolin’
gl_context_ = pangolin::FindContext(window_name);
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:79:27: error: ‘FindContext’ is not a member of ‘pangolin’
gl_context_ = pangolin::FindContext(window_name);
^
/home/gyc/桌面/3D/cilantro/src/image_viewer.cpp:81:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
In file included from /home/gyc/桌面/3D/cilantro/src/visualizer.cpp:1:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:25:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr addObject(const std::string &name, const std::shared_ptr &obj_ptr) {
^
In file included from /home/gyc/桌面/3D/cilantro/src/visualizer.cpp:1:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:33:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr addObject(const std::string &name, Args&&... args) {
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:41:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr getObject(const std::string &name) {
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:184:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptrpangolin::OpenGlRenderState gl_render_state_;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:185:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr input_handler_;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:186:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptrpangolin::VideoOutput video_recorder_;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:27: error: ‘shared_ptr’ is not a member of ‘std’
typedef std::pair<std::shared_ptr,std::shared_ptr> ManagedRenderable;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:27: error: ‘shared_ptr’ is not a member of ‘std’
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:53: error: wrong number of template arguments (1, should be 2)
typedef std::pair<std::shared_ptr,std::shared_ptr> ManagedRenderable;
^
In file included from /usr/include/c++/5/utility:70:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:6,
from /home/gyc/桌面/3D/cilantro/src/visualizer.cpp:1:
/usr/include/c++/5/bits/stl_pair.h:96:12: note: provided for ‘template<class T1, class T2> struct std::pair’
struct pair
^
In file included from /home/gyc/桌面/3D/cilantro/src/visualizer.cpp:1:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:54: error: expected unqualified-id before ‘,’ token
typedef std::pair<std::shared_ptr,std::shared_ptr> ManagedRenderable;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:196:30: error: ‘ManagedRenderable’ was not declared in this scope
std::mapstd::string,ManagedRenderable renderables;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:196:47: error: template argument 2 is invalid
std::mapstd::string,ManagedRenderable renderables;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:196:47: error: template argument 4 is invalid
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:42: error: invalid use of template-name ‘std::pair’ without an argument list
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:51: error: expected ‘,’ or ‘...’ before ‘<’ token
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::enablePerspectiveProjection()’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:98:13: error: ‘input_handler_’ was not declared in this scope
input_handler_->EnablePerspectiveProjection();
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::enableOrthographicProjection()’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:103:13: error: ‘input_handler_’ was not declared in this scope
input_handler_->EnableOrthographicProjection();
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::toggleProjectionMode()’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:107:53: error: ‘input_handler_’ was not declared in this scope
inline Visualizer& toggleProjectionMode() { input_handler_->ToggleProjectionMode(); return this; }
^
CMakeFiles/cilantro.dir/build.make:559: recipe for target 'CMakeFiles/cilantro.dir/src/image_viewer.cpp.o' failed
make[2]: *** [CMakeFiles/cilantro.dir/src/image_viewer.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘bool cilantro::Visualizer::isRecording() const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:170:52: error: ‘video_recorder_’ was not declared in this scope
inline bool isRecording() const { return !!video_recorder_; }
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘pangolin::OpenGlRenderState cilantro::Visualizer::getRenderState() const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:176:77: error: ‘gl_render_state_’ was not declared in this scope
inline pangolin::OpenGlRenderState* getRenderState() const { return gl_render_state_.get(); }
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::VisualizerHandler* cilantro::Visualizer::getInputHandler() const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:178:68: error: ‘input_handler_’ was not declared in this scope
inline VisualizerHandler* getInputHandler() const { return input_handler_.get(); }
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘bool cilantro::Visualizer::RenderPriorityComparator_::operator()(int) const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:204:24: error: ‘o1’ was not declared in this scope
return o1.first > o2.first;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:204:35: error: ‘o2’ was not declared in this scope
return o1.first > o2.first;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In destructor ‘cilantro::Visualizer::~Visualizer()’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:14:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::RenderingProperties cilantro::Visualizer::getRenderingProperties(const string&) const’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:18:32: error: request for member ‘find’ in ‘((const cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘const int’
auto it = renderables_.find(name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:19:32: error: request for member ‘end’ in ‘((const cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘const int’
if (it == renderables_.end()) return RenderingProperties();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setRenderingProperties(const string&, const cilantro::RenderingProperties&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:24:32: error: request for member ‘find’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
auto it = renderables_.find(name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:25:32: error: request for member ‘end’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
if (it == renderables_.end()) return this;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘bool cilantro::Visualizer::getVisibility(const string&) const’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:31:32: error: request for member ‘find’ in ‘((const cilantro::Visualizer)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘const int’
auto it = renderables_.find(name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:32:32: error: request for member ‘end’ in ‘((const cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘const int’
if (it == renderables_.end()) return false;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setVisibility(const string&, bool)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:37:32: error: request for member ‘find’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
auto it = renderables_.find(name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:38:32: error: request for member ‘end’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
if (it == renderables_.end()) return this;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::toggleVisibility(const string&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:44:32: error: request for member ‘find’ in ‘((cilantro::Visualizer)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
auto it = renderables_.find(name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:45:32: error: request for member ‘end’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
if (it == renderables_.end()) return this;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::clear()’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:51:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:52:22: error: request for member ‘clear’ in ‘((cilantro::Visualizer)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
renderables_.clear();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::remove(const string&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:57:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:58:22: error: request for member ‘erase’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
renderables_.erase(name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::clearRenderArea()’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:63:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:64:29: error: ‘gl_render_state_’ was not declared in this scope
display_->Activate(gl_render_state_);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::render()’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:72:37: error: ‘gl_render_state_’ was not declared in this scope
pangolin::OpenGlMatrix mv = gl_render_state_->GetModelViewMatrix();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:81:59: error: ‘ManagedRenderable’ was not declared in this scope
std::vector<std::pair<std::tuple<bool,bool,float>,ManagedRenderable>> visible_objects;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:81:76: error: template argument 2 is invalid
std::vector<std::pair<std::tuple<bool,bool,float>,ManagedRenderable*>> visible_objects;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:81:77: error: template argument 1 is invalid
std::vector<std::pair<std::tuple<bool,bool,float>,ManagedRenderable*>> visible_objects;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:81:77: error: template argument 2 is invalid
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:82:25: error: request for member ‘reserve’ in ‘visible_objects’, which is of non-class type ‘int’
visible_objects.reserve(renderables_.size());
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:82:46: error: request for member ‘size’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
visible_objects.reserve(renderables_.size());
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:83:37: error: request for member ‘begin’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = renderables_.begin(); it != renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:83:65: error: request for member ‘end’ in ‘((cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = renderables_.begin(); it != renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:84:32: error: ‘obj’ was not declared in this scope
ManagedRenderable* obj = &(it->second);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:86:33: error: request for member ‘emplace_back’ in ‘visible_objects’, which is of non-class type ‘int’
visible_objects.emplace_back(std::make_tuple(!obj->first->getDrawLast(), obj->first->getRenderingProperties().opacity == 1.0f, (R*(obj->first->getCentroid()) + t).squaredNorm()), obj);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:90:35: error: request for member ‘begin’ in ‘visible_objects’, which is of non-class type ‘int’
std::sort(visible_objects.begin(), visible_objects.end(), RenderPriorityComparator_());
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:90:60: error: request for member ‘end’ in ‘visible_objects’, which is of non-class type ‘int’
std::sort(visible_objects.begin(), visible_objects.end(), RenderPriorityComparator_());
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:92:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:98:48: error: request for member ‘size’ in ‘visible_objects’, which is of non-class type ‘int’
for (size_t i = 0; i < visible_objects.size(); i++) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:99:30: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
visible_objects[i].second->first->updateGPUBuffersAndRender((visible_objects[i].second->second));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:99:92: error: invalid types ‘int[size_t {aka long unsigned int}]’ for array subscript
visible_objects[i].second->first->updateGPUBuffersAndRender((visible_objects[i].second->second));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:102:40: error: ‘video_recorder_’ was not declared in this scope
if (video_record_on_render_ && video_recorder_) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::finishFrame()’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:112:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘std::vector<std::cxx11::basic_string > cilantro::Visualizer::getObjectNames() const’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:132:51: error: request for member ‘size’ in ‘((const cilantro::Visualizer*)this)->cilantro::Visualizer::renderables’, which is of non-class type ‘const int’
std::vectorstd::string res(renderables.size());
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:134:37: error: request for member ‘begin’ in ‘((const cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘const int’
for (auto it = renderables_.begin(); it != renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:134:65: error: request for member ‘end’ in ‘((const cilantro::Visualizer*)this)->cilantro::Visualizer::renderables_’, which is of non-class type ‘const int’
for (auto it = renderables_.begin(); it != renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setPerspectiveProjectionMatrix(size_t, size_t, pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:146:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->SetPerspectiveProjectionMatrix(pangolin::ProjectionMatrix((int)w, (int)h, fu, fv, u0, v0, zNear, zFar));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setPerspectiveProjectionMatrix(size_t, size_t, const Matrix3f&, pangolin::GLprecision, pangolin::GLprecision)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:155:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->SetPerspectiveProjectionMatrix(pangolin::ProjectionMatrix((int)w, (int)h, intrinsics(0,0), intrinsics(1,1), intrinsics(0,2), intrinsics(1,2), zNear, zFar));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setOrthographicProjectionMatrix(pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:163:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->SetOrthographicProjectionMatrix(left, right, bottom, top, near, far);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setOrthographicProjectionMatrix(pangolin::GLprecision, pangolin::GLprecision, pangolin::GLprecision)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:171:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->SetOrthographicProjectionMatrix(-heightaspect/2.0, heightaspect/2.0, -height/2.0, height/2.0, near, far);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘const cilantro::Visualizer& cilantro::Visualizer::getCameraPose(Eigen::Ref<Eigen::Matrix<float, 4, 4> >) const’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:176:30: error: ‘ToEigen’ is not a member of ‘pangolin’
pose = cam_axes_rot_pangolin::ToEigen(gl_render_state_->GetModelViewMatrix());
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:176:48: error: expected primary-expression before ‘float’
pose = cam_axes_rot_pangolin::ToEigen(gl_render_state_->GetModelViewMatrix());
^
In file included from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:249:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptrpangolin::GlFont glFont;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setCameraPose(const Vector3f&, const Vector3f&, const Vector3f&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:199:9: error: ‘gl_render_state_’ was not declared in this scope
gl_render_state_->SetModelViewMatrix(pangolin::ModelViewLookAt(position(0), position(1), position(2), look_at(0), look_at(1), look_at(2), up_direction(0), up_direction(1), up_direction(2)));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setCameraPose(float, float, float, float, float, float, float, float, float)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:207:9: error: ‘gl_render_state_’ was not declared in this scope
gl_render_state_->SetModelViewMatrix(pangolin::ModelViewLookAt(pos_x, pos_y, pos_z, look_at_x, look_at_y, look_at_z, up_dir_x, up_dir_y, up_dir_z));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setCameraPose(const Eigen::Ref<const Eigen::Matrix<float, 4, 4> >&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:219:9: error: ‘gl_render_state_’ was not declared in this scope
gl_render_state_->SetModelViewMatrix(model_view);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘const cilantro::Visualizer& cilantro::Visualizer::getDefaultCameraPose(Eigen::Ref<Eigen::Matrix<float, 4, 4> >) const’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:224:30: error: ‘ToEigen’ is not a member of ‘pangolin’
pose = cam_axes_rot_pangolin::ToEigen(input_handler_->default_model_view);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:224:48: error: expected primary-expression before ‘float’
pose = cam_axes_rot_pangolin::ToEigen(input_handler_->default_model_view);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setDefaultCameraPose(const Vector3f&, const Vector3f&, const Vector3f&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:247:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->default_model_view = pangolin::ModelViewLookAt(position(0), position(1), position(2), look_at(0), look_at(1), look_at(2), up_direction(0), up_direction(1), up_direction(2));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setDefaultCameraPose(float, float, float, float, float, float, float, float, float)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:255:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->default_model_view = pangolin::ModelViewLookAt(pos_x, pos_y, pos_z, look_at_x, look_at_y, look_at_z, up_dir_x, up_dir_y, up_dir_z);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::setDefaultCameraPose(const Eigen::Ref<const Eigen::Matrix<float, 4, 4> >&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:267:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->default_model_view = model_view;
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::registerKeyboardCallback(unsigned char, std::function<void()>)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:272:9: error: ‘input_handler_’ was not declared in this scope
input_handler_->key_callback_map[key] = std::move(func);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘pangolin::TypedImage cilantro::Visualizer::getRenderImage(float, bool)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:277:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:302:29: error: ‘PixelFormat’ in namespace ‘pangolin’ does not name a type
const pangolin::PixelFormat fmt = pangolin::PixelFormatFromString("RGBA32");
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:303:47: error: ‘fmt’ was not declared in this scope
pangolin::TypedImage buffer(w, h, fmt);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:320:29: error: ‘PixelFormat’ in namespace ‘pangolin’ does not name a type
const pangolin::PixelFormat fmt = pangolin::PixelFormatFromString("RGB24");
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:321:47: error: ‘fmt’ was not declared in this scope
pangolin::TypedImage buffer(w, h, fmt);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::saveRenderAsImage(const string&, float, float, bool)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:342:61: error: no matching function for call to ‘SaveImage(pangolin::TypedImage&, pangolin::VideoPixelFormat&, const string&, bool, float&)’
SaveImage(image, image.fmt, file_name, true, quality);
^
In file included from /usr/local/include/pangolin/gl/gl.h:33:0,
from /usr/local/include/pangolin/pangolin.h:34,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer_handler.hpp:6,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:9,
from /home/gyc/桌面/3D/cilantro/src/visualizer.cpp:1:
/usr/local/include/pangolin/image/image_io.h:74:6: note: candidate: void pangolin::SaveImage(const pangolin::TypedImage&, const string&, bool)
void SaveImage(const TypedImage& image, const std::string& filename, bool top_line_first = true);
^
/usr/local/include/pangolin/image/image_io.h:74:6: note: candidate expects 3 arguments, 5 provided
In file included from /usr/local/include/pangolin/gl/gl.h:33:0,
from /usr/local/include/pangolin/pangolin.h:34,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer_handler.hpp:6,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:9,
from /home/gyc/桌面/3D/cilantro/src/visualizer.cpp:1:
/usr/local/include/pangolin/image/image_io.h:71:6: note: candidate: void pangolin::SaveImage(const pangolin::Image&, const pangolin::VideoPixelFormat&, const string&, bool)
void SaveImage(const Image& image, const pangolin::VideoPixelFormat& fmt, const std::string& filename, bool top_line_first = true);
^
/usr/local/include/pangolin/image/image_io.h:71:6: note: candidate expects 4 arguments, 5 provided
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::startVideoRecording(const string&, size_t, bool, float, bool)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:361:9: error: ‘video_recorder_’ was not declared in this scope
video_recorder_.reset(new pangolin::VideoOutput(output_uri));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:363:9: error: ‘PixelFormat’ is not a member of ‘pangolin’
pangolin::PixelFormat fmt(pangolin::PixelFormatFromString((rgba) ? "RGBA32" : "RGB24"));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:368:95: error: ‘fmt’ was not declared in this scope
video_recorder_->SetStreams(std::vectorpangolin::StreamInfo(1, pangolin::StreamInfo(fmt, w, h, pitch)));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::recordVideoFrame()’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:374:13: error: ‘video_recorder_’ was not declared in this scope
if (video_recorder_) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:377:67: error: no matching function for call to ‘pangolin::TypedImage::TypedImage(size_t&, size_t&, pangolin::VideoPixelFormat&)’
pangolin::TypedImage img_flipped(img.w, img.h, img.fmt);
^
In file included from /usr/local/include/pangolin/gl/gl.h:33:0,
from /usr/local/include/pangolin/pangolin.h:34,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer_handler.hpp:6,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:9,
from /home/gyc/桌面/3D/cilantro/src/visualizer.cpp:1:
/usr/local/include/pangolin/image/image_io.h:44:12: note: candidate: pangolin::TypedImage::TypedImage(size_t, size_t, size_t, unsigned char, const pangolin::VideoPixelFormat&)
inline TypedImage(size_t w, size_t h, size_t pitch, unsigned char ptr, const VideoPixelFormat& fmt)
^
/usr/local/include/pangolin/image/image_io.h:44:12: note: candidate expects 5 arguments, 3 provided
/usr/local/include/pangolin/image/image_io.h:39:12: note: candidate: pangolin::TypedImage::TypedImage()
inline TypedImage()
^
/usr/local/include/pangolin/image/image_io.h:39:12: note: candidate expects 0 arguments, 3 provided
/usr/local/include/pangolin/image/image_io.h:37:8: note: candidate: pangolin::TypedImage::TypedImage(const pangolin::TypedImage&)
struct TypedImage : public Image
^
/usr/local/include/pangolin/image/image_io.h:37:8: note: candidate expects 1 argument, 3 provided
/usr/local/include/pangolin/image/image_io.h:37:8: note: candidate: pangolin::TypedImage::TypedImage(pangolin::TypedImage&&)
/usr/local/include/pangolin/image/image_io.h:37:8: note: candidate expects 1 argument, 3 provided
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::stopVideoRecording()’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:388:13: error: ‘video_recorder_’ was not declared in this scope
if (video_recorder_) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp: In member function ‘void cilantro::Visualizer::init_(const string&, const string&)’:
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:397:23: error: ‘FindContext’ is not a member of ‘pangolin’
gl_context_ = pangolin::FindContext(window_name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:400:27: error: ‘FindContext’ is not a member of ‘pangolin’
gl_context_ = pangolin::FindContext(window_name);
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:402:22: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:408:9: error: ‘gl_render_state_’ was not declared in this scope
gl_render_state_.reset(new pangolin::OpenGlRenderState(pangolin::ProjectionMatrix(640, 480, 525, 525, 319.5, 239.5, 0.1, 100), pangolin::ModelViewLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)));
^
/home/gyc/桌面/3D/cilantro/src/visualizer.cpp:409:9: error: ‘input_handler_’ was not declared in this scope
input_handler_.reset(new VisualizerHandler(this));
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp: In member function ‘virtual void cilantro::PointCloudRenderable::render(cilantro::GPUBufferObjects&)’:
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:103:101: error: too many arguments to function ‘void pangolin::RenderVboCbo(pangolin::GlBuffer&, pangolin::GlBuffer&, bool)’
pangolin::RenderVboCbo(gl_buffers->pointBuffer, gl_buffers->colorBuffer, true, GL_POINTS);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:113:13: note: declared here
inline void RenderVboCbo(GlBuffer& vbo, GlBuffer& cbo, bool draw_color)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:108:101: error: too many arguments to function ‘void pangolin::RenderVboCbo(pangolin::GlBuffer&, pangolin::GlBuffer&, bool)’
pangolin::RenderVboCbo(gl_buffers->pointBuffer, gl_buffers->colorBuffer, true, GL_POINTS);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:113:13: note: declared here
inline void RenderVboCbo(GlBuffer& vbo, GlBuffer& cbo, bool draw_color)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:121:75: error: too many arguments to function ‘void pangolin::RenderVbo(pangolin::GlBuffer&)’
pangolin::RenderVbo(gl_buffers->normalEndPointBuffer, GL_LINES);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:99:13: note: declared here
inline void RenderVbo(GlBuffer& vbo)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp: In member function ‘virtual void cilantro::PointCorrespondencesRenderable::render(cilantro::GPUBufferObjects&)’:
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:166:69: error: too many arguments to function ‘void pangolin::RenderVbo(pangolin::GlBuffer&)’
pangolin::RenderVbo(gl_buffers->lineEndPointBuffer, GL_LINES);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:99:13: note: declared here
inline void RenderVbo(GlBuffer& vbo)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp: In member function ‘virtual void cilantro::CoordinateFrameRenderable::render(cilantro::GPUBufferObjects&)’:
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:186:9: error: ‘glDrawColoredVertices’ is not a member of ‘pangolin’
pangolin::glDrawColoredVertices<float,float>(6, verts, cols, GL_LINES, 3, 4);
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:186:41: error: expected primary-expression before ‘float’
pangolin::glDrawColoredVertices<float,float>(6, verts, cols, GL_LINES, 3, 4);
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp: In member function ‘virtual void cilantro::CameraFrustumRenderable::render(cilantro::GPUBufferObjects&)’:
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:205:9: error: ‘glDrawFrustum’ is not a member of ‘pangolin’
pangolin::glDrawFrustum(inverseIntrinsics, (int)width, (int)height, pose, scale);
^
In file included from /home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:2:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:25:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr addObject(const std::string &name, const std::shared_ptr &obj_ptr) {
^
In file included from /home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:2:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:33:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr addObject(const std::string &name, Args&&... args) {
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:41:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr getObject(const std::string &name) {
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:184:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptrpangolin::OpenGlRenderState gl_render_state_;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:185:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptr input_handler_;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:186:14: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
std::shared_ptrpangolin::VideoOutput video_recorder_;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:27: error: ‘shared_ptr’ is not a member of ‘std’
typedef std::pair<std::shared_ptr,std::shared_ptr> ManagedRenderable;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:27: error: ‘shared_ptr’ is not a member of ‘std’
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:53: error: wrong number of template arguments (1, should be 2)
typedef std::pair<std::shared_ptr,std::shared_ptr> ManagedRenderable;
^
In file included from /usr/include/c++/5/bits/stl_algobase.h:64:0,
from /usr/include/c++/5/bits/char_traits.h:39,
from /usr/include/c++/5/ios:40,
from /usr/include/c++/5/ostream:38,
from /usr/include/c++/5/iostream:39,
from /usr/local/include/pangolin/utils/type_convert.h:31,
from /usr/local/include/pangolin/image/image_common.h:32,
from /usr/local/include/pangolin/image/image_io.h:32,
from /usr/local/include/pangolin/gl/gl.h:33,
from /usr/local/include/pangolin/pangolin.h:34,
from /home/gyc/桌面/3D/cilantro/include/cilantro/visualizer_handler.hpp:6,
from /home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:1:
/usr/include/c++/5/bits/stl_pair.h:96:12: note: provided for ‘template<class T1, class T2> struct std::pair’
struct pair
^
In file included from /home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:2:0:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:194:54: error: expected unqualified-id before ‘,’ token
typedef std::pair<std::shared_ptr,std::shared_ptr> ManagedRenderable;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:196:30: error: ‘ManagedRenderable’ was not declared in this scope
std::mapstd::string,ManagedRenderable renderables;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:196:47: error: template argument 2 is invalid
std::mapstd::string,ManagedRenderable renderables;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:196:47: error: template argument 4 is invalid
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:80: error: ‘ManagedRenderable’ was not declared in this scope
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:98: error: template argument 2 is invalid
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:42: error: invalid use of template-name ‘std::pair’ without an argument list
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:201:51: error: expected ‘,’ or ‘...’ before ‘<’ token
inline bool operator()(const std::pair<std::tuple<bool,bool,float>,ManagedRenderable*> &o1,
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::enablePerspectiveProjection()’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:98:13: error: ‘input_handler_’ was not declared in this scope
input_handler_->EnablePerspectiveProjection();
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::enableOrthographicProjection()’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:103:13: error: ‘input_handler_’ was not declared in this scope
input_handler_->EnableOrthographicProjection();
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::Visualizer& cilantro::Visualizer::toggleProjectionMode()’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:107:53: error: ‘input_handler_’ was not declared in this scope
inline Visualizer& toggleProjectionMode() { input_handler_->ToggleProjectionMode(); return this; }
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘bool cilantro::Visualizer::isRecording() const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:170:52: error: ‘video_recorder_’ was not declared in this scope
inline bool isRecording() const { return !!video_recorder_; }
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘pangolin::OpenGlRenderState cilantro::Visualizer::getRenderState() const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:176:77: error: ‘gl_render_state_’ was not declared in this scope
inline pangolin::OpenGlRenderState* getRenderState() const { return gl_render_state_.get(); }
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘cilantro::VisualizerHandler* cilantro::Visualizer::getInputHandler() const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:178:68: error: ‘input_handler_’ was not declared in this scope
inline VisualizerHandler* getInputHandler() const { return input_handler_.get(); }
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp: In member function ‘bool cilantro::Visualizer::RenderPriorityComparator_::operator()(int) const’:
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:204:24: error: ‘o1’ was not declared in this scope
return o1.first > o2.first;
^
/home/gyc/桌面/3D/cilantro/include/cilantro/visualizer.hpp:204:35: error: ‘o2’ was not declared in this scope
return o1.first > o2.first;
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp: In constructor ‘cilantro::VisualizerHandler::VisualizerHandler(cilantro::Visualizer*)’:
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:21:50: error: ‘class cilantro::Visualizer’ has no member named ‘gl_render_state_’
perspective_projection(visualizer->gl_render_state_->GetProjectionMatrix()),
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:22:46: error: ‘class cilantro::Visualizer’ has no member named ‘gl_render_state_’
default_model_view(visualizer->gl_render_state_->GetModelViewMatrix()),
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:23:37: error: ‘class cilantro::Visualizer’ has no member named ‘gl_render_state_’
cam_state(visualizer->gl_render_state_.get()),
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp: In member function ‘virtual void cilantro::VisualizerHandler::Keyboard(pangolin::View&, unsigned char, int, int, bool)’:
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:41:42: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
visualizer->gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:42:57: error: request for member ‘begin’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:42:97: error: request for member ‘end’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:50:42: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
visualizer->gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:51:57: error: request for member ‘begin’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:51:97: error: request for member ‘end’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:60:42: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
visualizer->gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:61:57: error: request for member ‘begin’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:61:97: error: request for member ‘end’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:69:42: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
visualizer->gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:70:57: error: request for member ‘begin’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:70:97: error: request for member ‘end’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:88:42: error: ‘struct pangolin::PangolinGl’ has no member named ‘MakeCurrent’
visualizer->gl_context_->MakeCurrent();
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:89:57: error: request for member ‘begin’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/visualizer_handler.cpp:89:97: error: request for member ‘end’ in ‘((cilantro::VisualizerHandler*)this)->cilantro::VisualizerHandler::visualizer->cilantro::Visualizer::renderables_’, which is of non-class type ‘int’
for (auto it = visualizer->renderables_.begin(); it != visualizer->renderables_.end(); ++it) {
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp: In member function ‘virtual void cilantro::TriangleMeshRenderable::render(cilantro::GPUBufferObjects&)’:
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:405:105: error: too many arguments to function ‘void pangolin::RenderVboCbo(pangolin::GlBuffer&, pangolin::GlBuffer&, bool)’
pangolin::RenderVboCbo(gl_buffers->vertexBuffer, gl_buffers->colorBuffer, true, GL_TRIANGLES);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:113:13: note: declared here
inline void RenderVboCbo(GlBuffer& vbo, GlBuffer& cbo, bool draw_color)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:412:109: error: too many arguments to function ‘void pangolin::RenderVboCbo(pangolin::GlBuffer&, pangolin::GlBuffer&, bool)’
pangolin::RenderVboCbo(gl_buffers->vertexBuffer, gl_buffers->colorBuffer, true, GL_TRIANGLES);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:113:13: note: declared here
inline void RenderVboCbo(GlBuffer& vbo, GlBuffer& cbo, bool draw_color)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:417:109: error: too many arguments to function ‘void pangolin::RenderVboCbo(pangolin::GlBuffer&, pangolin::GlBuffer&, bool)’
pangolin::RenderVboCbo(gl_buffers->vertexBuffer, gl_buffers->colorBuffer, true, GL_TRIANGLES);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:113:13: note: declared here
inline void RenderVboCbo(GlBuffer& vbo, GlBuffer& cbo, bool draw_color)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:431:75: error: too many arguments to function ‘void pangolin::RenderVbo(pangolin::GlBuffer&)’
pangolin::RenderVbo(gl_buffers->normalEndPointBuffer, GL_LINES);
^
In file included from /usr/local/include/pangolin/pangolin.h:36:0,
from /home/gyc/桌面/3D/cilantro/include/cilantro/common_renderables.hpp:7,
from /home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:1:
/usr/local/include/pangolin/gl/glvbo.h:99:13: note: declared here
inline void RenderVbo(GlBuffer& vbo)
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp: In member function ‘virtual void cilantro::TextRenderable::updateGPUBuffers(cilantro::GPUBufferObjects&)’:
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:463:21: error: ‘struct cilantro::TextGPUBufferObjects’ has no member named ‘glFont’
gl_buffers->glFont.reset(new pangolin::GlFont(AnonymousPro_ttf, renderingProperties.fontSize));
^
/home/gyc/桌面/3D/cilantro/src/common_renderables.cpp:464:42: error: ‘struct cilantro::TextGPUBufferObjects’ has no member named ‘glFont’
gl_buffers->glText = gl_buffers->glFont->Text(text);
^
CMakeFiles/cilantro.dir/build.make:598: recipe for target 'CMakeFiles/cilantro.dir/src/visualizer_handler.cpp.o' failed
make[2]: *** [CMakeFiles/cilantro.dir/src/visualizer_handler.cpp.o] Error 1
CMakeFiles/cilantro.dir/build.make:585: recipe for target 'CMakeFiles/cilantro.dir/src/visualizer.cpp.o' failed
make[2]: *** [CMakeFiles/cilantro.dir/src/visualizer.cpp.o] Error 1
CMakeFiles/cilantro.dir/build.make:546: recipe for target 'CMakeFiles/cilantro.dir/src/common_renderables.cpp.o' failed
make[2]: *** [CMakeFiles/cilantro.dir/src/common_renderables.cpp.o] Error 1
CMakeFiles/Makefile2:143: recipe for target 'CMakeFiles/cilantro.dir/all' failed
make[1]: *** [CMakeFiles/cilantro.dir/all] Error 2
Makefile:132: recipe for target 'all' failed
make: *** [all] Error 2

Error on 'm_image_processor' construction

Crash due to fast motion?

Hello, I've noticed that the algorithm simply crashes upon frame with "fast" motion from one frame to the other. The reconstruction up to that point looks pretty much perfect. In particular, the program reports:

...
/home/bsespede/Repos/surfelwarp/apps/surfelwarp_app/main.cpp:40: The 39th Frame
/home/bsespede/Repos/surfelwarp/core/warp_solver/DensityForegroundJacobianResidual.cu:192: There is no foreground pixel
/home/bsespede/Repos/surfelwarp/core/warp_solver/DensityForegroundJacobianResidual.cu:192: There is no foreground pixel
/home/bsespede/Repos/surfelwarp/core/warp_solver/DensityForegroundJacobianResidual.cu:192: There is no foreground pixel
/home/bsespede/Repos/surfelwarp/core/warp_solver/DensityForegroundJacobianResidual.cu:192: There is no foreground pixel
/home/bsespede/Repos/surfelwarp/core/warp_solver/DensityForegroundJacobianResidual.cu:192: There is no foreground pixel
/home/bsespede/Repos/surfelwarp/core/warp_solver/DensityForegroundJacobianResidual.cu:192: There is no foreground pixel
Error: /home/bsespede/Repos/surfelwarp/core/geometry/DoubleBufferCompactor.cu:165

Is this an error that is to be expected? Is it possible to somehow recover from bad frames?

Best regards,
Braulio

make

gyc@3Dre:/桌面/3D/surfelwarp/build$ cmake ..
-- Found OpenMP_C: -fopenmp
-- Found OpenMP_CXX: -fopenmp
-- Found OpenMP: TRUE
-- Configuring done
-- Generating done
-- Build files have been written to: /home/gyc/桌面/3D/surfelwarp/build
gyc@3Dre:/桌面/3D/surfelwarp/build$ make
[ 1%] Building NVCC (Device) object common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o
cc: error trying to exec 'cc1plus': execvp: 没有那个文件或目录
CMake Error at common_lib_generated_sanity_check.cu.o.cmake:220 (message):
Error generating
/home/gyc/桌面/3D/surfelwarp/build/common/CMakeFiles/common_lib.dir//./common_lib_generated_sanity_check.cu.o

common/CMakeFiles/common_lib.dir/build.make:108: recipe for target 'common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o' failed
make[2]: *** [common/CMakeFiles/common_lib.dir/common_lib_generated_sanity_check.cu.o] Error 1
CMakeFiles/Makefile2:337: recipe for target 'common/CMakeFiles/common_lib.dir/all' failed
make[1]: *** [common/CMakeFiles/common_lib.dir/all] Error 2
Makefile:100: recipe for target 'all' failed
make: *** [all] Error 2

CUDA_cublas_device_LIBRARY-NOTFOUND

I use cuda 10.1 on ubuntu 18.04, when I cmake

I get the error

CMake Error: The following variables are used in this project, but they are set to NOTFOUND. Please set them or make sure they are set and tested correctly in the CMake files: CUDA_cublas_device_LIBRARY (ADVANCED)

$ nvcc -V                         
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2019 NVIDIA Corporation
Built on Wed_Apr_24_19:10:27_PDT_2019
Cuda compilation tools, release 10.1, V10.1.168

error: identifier "Matrix3f" is undefined

Dear author:
I have success to cmake the file by following the second installation guide.However something error occurred.as the following:
/surfelwarp/common/common_types.h(26): error: identifier "Matrix3f" is undefined
/surfelwarp/common/common_types.h(26): error: expected a ";"
...
and I guess that the version of eigen or boost is incompatible with project.try some version but still error.I don't know how to solve this problem.So can you give me some advice if possible.Thanks.

Add AppVeyor CI

This is another enhancement request.
It naturally flows out of #5 if the PR is accepted.

In order to properly maintain this package and preempt any PR from breaking core functionality on any platform, I propose to add AppVeyor testing to this repository.

For the initial build tests, I propose the following build configuration matrix:

Microsoft Visual Studio 2015, PCL 1.8, CUDA 9.2
Microsoft Visual Studio 2017, cilantro, CUDA 9.2
Microsoft Visual Studio 2017, cilantro, CUDA 10.1
Ubuntu 16.04 / gcc 5.3, PCL 1.8, CUDA 9.2
Ubuntu 18.04 / gcc 7.4, cilantro, CUDA 10.1