Hi, Yan, thanks for the sharing. I have read your paper, and I got 2 questions here.

1. In the scene with one dominant plane, will the CNN-SVO still be better than SVO?
2. Since the depth of feature can be recovered, the CNN-SVO itself can recover the absolute scale in initialization process. Right?

Hi,
I'm trying to test CNN-SVO in online mode on KITTI-00.
I successfully built everything, I also tested monodepth-cpp in another project and it's working fine.
My vo_kitti.yaml looks like this:

grid_size: 30 # 20
max_n_kfs: 0 # UNLIMITED
core_n_kfs: 5 # KFs for BA
core_n_kfs_df: 5 # 5 # (previous) KFs for depth filter
n_pyr_levels: 4

# Threshold
triang_min_corner_score: 30
reproj_thresh: 2.0
poseoptim_thresh: 2.0
max_fts: 200 # 200
quality_min_fts: 50
quality_max_drop_fts: 150 # 150
min_num_features_kf: 100 # 120
kfselect_mindist: 0.01 # 0.05

# Motion model
use_motion_model: true

# pre-trained CNN model
cnn_model: "/home/ldeluigi/dev/monodepth-cpp/model/model_city2kitti.pb"

# Directories
sequence_path: "/home/ldeluigi/Downloads/00"
image_folder: "image_2"
depth_folder: "disp_image_2_modelcity2kitti"

# Trace (Log)
trace_dir: "/home/ldeluigi/dev/CNN-SVO/results"

# update iterations
loba_num_iter: 10
sparse_img_align_iter: 10
structureoptim_num_iter: 10
subpix_n_iter: 10

# visualization
point_marker_scale: 0.5
camera_marker_scale: 3.0
frame_marker_scale: 0.15

# initialization
init_min_disparity: 20
init_min_tracked: 120

When I run roslaunch svo_ros kittiOnline00-02.launch, I always get "double free or corruption (out)" error and the process exits with code -6.

I have no idea where to look at, do you have any suggestion?

Thanks in advance!

Hi, @yan99033 ,

Could you also provide the evaluation code about the computation on ATE mentioned in your paper?

Thanks!

Hi,I have an error.
When i type the code 'roslaunch svo_ros kittiOffline00-02.launch'

Could you tell me what's the meaning of trace_dir in the vo_kitti.yaml.I think it's the key of my question.

Hi,
I can run the pipeline successfully without using g2o. But it can't run if the g2o is used.
I think its compatible problem between g2o-latest and eigen3.
I'd like to know what's the version of g2o and eigen you've used?
And,
If the g2o is not used, will the accuracy get worse?

i have already installed Sophus, Fast and g2o from:
https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-ROS
and i tried to build CNN-SVO, but during compilation i get these errors, could someone give me a hint?
How did you manage to build this project?

`-----------------------------------------------------------
Profile: default
Extending: [env] /opt/ros/melodic
Workspace: /home/george/catkin_ws

Build Space: [exists] /home/george/catkin_ws/build
Devel Space: [exists] /home/george/catkin_ws/devel
Install Space: [unused] /home/george/catkin_ws/install
Log Space: [missing] /home/george/catkin_ws/logs
Source Space: [exists] /home/george/catkin_ws/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.

[build] Found '8' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.6 seconds ]
Starting >>> rqt_svo
Starting >>> svo_analysis
Starting >>> svo_msgs
Starting >>> vikit_common
Starting >>> vikit_py
Finished <<< svo_analysis [ 2.4 seconds ]
Finished <<< rqt_svo [ 2.5 seconds ]

Warnings << vikit_common:cmake /home/george/catkin_ws/logs/vikit_common/build.cmake.000.log
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'Sophus' but neither 'Sophus_INCLUDE_DIRS' nor
'Sophus_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:30 (catkin_package)

cd /home/george/catkin_ws/build/vikit_common; catkin build --get-env vikit_common | catkin env -si /usr/bin/cmake /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/george/catkin_ws/devel/.private/vikit_common -DCMAKE_INSTALL_PREFIX=/home/george/catkin_ws/install; cd -
.........................................................................................................................................................................................
Finished <<< vikit_py [ 2.7 seconds ]
Finished <<< svo_msgs [ 3.9 seconds ]

Errors << vikit_common:make /home/george/catkin_ws/logs/vikit_common/build.make.000.log
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:12,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols> class Eigen::Matrix

class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:12,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/robust_cost.cpp:24:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:19,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z *focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:37:3: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
Sophus::SE3 T; //!< second from first
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:37:3: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:75:3: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
SE3 T_c2_from_c1; //!< Relative translation and rotation of two images
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:75:3: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/homography.h:22,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:12:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/math_utils.cpp.o] Error 1
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:13,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/omni_camera.cpp:10:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:18,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/atan_camera.cpp:14:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z *focal_length;
^~~~~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:51:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, D> H; //!< Hessian approximation
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:52:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, 1> Jres; //!< Jacobian x Residual
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:53:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, 1> x; //!< update step
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:56:3: error: reference to ‘Matrix’ is ambiguous
Matrix<double, D, D> I_prior; //!< Prior information matrix (inverse covariance)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:154:13: error: reference to ‘Matrix’ is ambiguous
const Matrix<double, D, D>& Information);
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:154:19: error: expected ‘,’ or ‘...’ before ‘<’ token
const Matrix<double, D, D>& Information);
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:163:9: error: reference to ‘Matrix’ is ambiguous
const Matrix<double, D, D>& getInformationMatrix() const;
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:168:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: In member function ‘void vk::NLLSSolver<D, T>::optimizeGaussNewton(vk::NLLSSolver<D, T>::ModelType&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:40:5: error: ‘H’ was not declared in this scope
H.setZero();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:41:5: error: ‘Jres’ was not declared in this scope
Jres.setZero();
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:90:51: error: ‘x’ was not declared in this scope
<< "\t x_norm = " << vk::norm_max(x)
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:97:21: error: ‘x’ was not declared in this scope
if(vk::norm_max(x)<=eps)
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: In member function ‘void vk::NLLSSolver<D, T>::optimizeLevenbergMarquardt(vk::NLLSSolver<D, T>::ModelType&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:127:41: error: there are no arguments to ‘H’ that depend on a template parameter, so a declaration of ‘H’ must be available [-fpermissive]
H_max_diag = max(H_max_diag, fabs(H(j,j)));
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:127:41: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:144:7: error: ‘H’ was not declared in this scope
H.setZero();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:146:7: error: ‘Jres’ was not declared in this scope
Jres.setZero();
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:184:30: error: ‘x’ was not declared in this scope
stop = vk::norm_max(x)<=eps;
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:291:11: error: reference to ‘Matrix’ is ambiguous
const Matrix<double, D, D>& Information)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver.h:168:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:20:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:291:17: error: expected ‘,’ or ‘...’ before ‘<’ token
const Matrix<double, D, D>& Information)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: In member function ‘void vk::NLLSSolver<D, T>::setPrior(const T&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:295:3: error: ‘I_prior’ was not declared in this scope
I_prior = Information;
^~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:295:3: note: suggested alternative: ‘prior’
I_prior = Information;
^~~~~~~~
prior
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:295:14: error: ‘Information’ was not declared in this scope
I_prior = Information;
^~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/nlls_solver_impl.hpp:318:14: error: reference to ‘Matrix’ is ambiguous
inline const vk::Matrix<double, D, D>& vk::NLLSSolver<D, T>::getInformationMatrix() const
^~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:22:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:31:57: error: type/value mismatch at argument 2 in template parameter list for ‘template<int D, class T> class vk::NLLSSolver’
class ForwardCompositionalSE3 : public NLLSSolver<6, SE3> {
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:31:57: note: expected a type, got ‘SE3’
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:48:27: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale = false);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:48:27: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:22:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:54:16: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:54:39: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:71:28: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:76:28: error: ‘Method’ has not been declared
Method method = LevenbergMarquardt,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:89:28: error: ‘Method’ has not been declared
Method method = LevenbergMarquardt,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:93:19: error: ‘SE3’ is not a type
runOptimization(SE3& model, int levelBegin = -1, int levelEnd = -1);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:76:44: error: ‘LevenbergMarquardt’ was not declared in this scope
Method method = LevenbergMarquardt,
^~~~~~~~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:89:44: error: ‘LevenbergMarquardt’ was not declared in this scope
Method method = LevenbergMarquardt,
^~~~~~~~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:99:60: error: type/value mismatch at argument 2 in template parameter list for ‘template<int D, class T> class vk::NLLSSolver’
class SecondOrderMinimisationSE3 : public NLLSSolver<6, SE3> {
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:99:60: note: expected a type, got ‘SE3’
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:117:27: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale = false);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:117:27: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:22:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:123:16: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:123:39: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:142:31: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:147:31: error: ‘Method’ has not been declared
Method method = LevenbergMarquardt,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/img_align.h:147:47: error: ‘LevenbergMarquardt’ was not declared in this scope
Method method = LevenbergMarquardt,
^~~~~~~~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:37:26: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:42:26: error: ‘Method’ has not been declared
Method method,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In constructor ‘vk::ForwardCompositionalSE3::ForwardCompositionalSE3(std::vectorvk::PinholeCamera&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, int&, int, int, float, bool, int, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:54:3: error: ‘n_iter’ was not declared in this scope
n_iter = n_iter;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:54:3: note: suggested alternative: ‘n_iter’
n_iter = n_iter;
^~~~~~~
n_iter
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:55:3: error: ‘method’ was not declared in this scope
method = method;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:55:3: note: suggested alternative: ‘method’
method = method;
^~~~~~~
method
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:86:26: error: ‘Method’ has not been declared
Method method,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In constructor ‘vk::ForwardCompositionalSE3::ForwardCompositionalSE3(std::vectorvk::PinholeCamera&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, int, int, float, bool, int, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:98:3: error: ‘n_iter’ was not declared in this scope
n_iter = n_iter;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:98:3: note: suggested alternative: ‘n_iter’
n_iter = n_iter;
^~~~~~~
n_iter
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:99:3: error: ‘method’ was not declared in this scope
method = method;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:99:3: note: suggested alternative: ‘method’
method = method;
^~~~~~~
method
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:17: error: variable or field ‘runOptimization’ declared void
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:20: error: missing template arguments before ‘&’ token
runOptimization(SE3& model, int levelBegin, int levelEnd)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:22: error: ‘model’ was not declared in this scope
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:22: note: suggested alternative: ‘modfl’
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~~~
modfl
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:29: error: expected primary-expression before ‘int’
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:118:45: error: expected primary-expression before ‘int’
runOptimization(SE3& model, int levelBegin, int levelEnd)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:136:25: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:136:25: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o] Error 1
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual double vk::ForwardCompositionalSE3::computeResiduals(const int&, bool, bool)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:178:11: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> frame_jac;
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:178:18: error: expected primary-expression before ‘double’
Matrix<double,2,6> frame_jac;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:179:59: error: ‘frame_jac’ was not declared in this scope
frameJac_xyz2uv(xyz_img, cam_pyr[level].fx(), frame_jac);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:185:11: error: ‘H’ was not declared in this scope
H += JJ.transpose();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:186:11: error: ‘Jres’ was not declared in this scope
Jres += Jres;
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:186:11: note: suggested alternative: ‘res’
Jres += Jres;
^~~~~
res
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::calcFromPlaneParams(const Vector3d&, const Vector3d&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:34:18: error: ‘T_c2_from_c1’ was not declared in this scope
H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
^~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:34:18: note: suggested alternative: ‘H_c2_from_c1’
H_c2_from_c1 = T_c2_from_c1.rotation_matrix() + (T_c2_from_c1.translation()*n_c1.transpose())/d;
^~~~~~~~~~~~
H_c2_from_c1
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual int vk::ForwardCompositionalSE3::solve()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:200:3: error: ‘x’ was not declared in this scope
x = H.ldlt().solve(-Jres);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:200:8: error: ‘H’ was not declared in this scope
x = H_.ldlt().solve(-Jres_);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:200:25: error: ‘Jres_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:207:14: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:207:37: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual void vk::ForwardCompositionalSE3::update(const int&, int&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:209:15: error: ‘template<class Scalar_, int Options> class Sophus::SE3’ used without template parameters
new_model = SE3::exp(x_)(old_model);
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:209:24: error: ‘x_’ was not declared in this scope
new_model = SE3::exp(x_)(old_model);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:255:29: error: ‘SE3’ is not a type
SE3& init_model,
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:260:29: error: ‘Method’ has not been declared
Method method,
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In constructor ‘vk::SecondOrderMinimisationSE3::SecondOrderMinimisationSE3(std::vectorvk::PinholeCamera&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, std::vectorcv::Mat&, int&, int, int, float, bool, int, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:274:3: error: ‘n_iter_’ was not declared in this scope
n_iter_ = n_iter;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:274:3: note: suggested alternative: ‘n_iter’
n_iter_ = n_iter;
^~~~~~~
n_iter
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:275:3: error: ‘method_’ was not declared in this scope
method_ = method;
^~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:275:3: note: suggested alternative: ‘method’
method_ = method;
^~~~~~~
method
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:276:3: error: ‘verbose_’ was not declared in this scope
verbose_ = false;
^~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:276:3: note: suggested alternative: ‘permon_’
verbose_ = false;
^~~~~~~~
permon_
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:297:5: error: ‘mu_’ was not declared in this scope
mu_ = 0.01f;
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:304:5: error: ‘optimize’ was not declared in this scope
optimize(init_model);
^~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘bool vk::Homography::computeSE3fromMatches()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:86:3: error: ‘T_c2_from_c1’ was not declared in this scope
T_c2_from_c1 = decompositions.front().T;
^~~~~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:304:5: note: suggested alternative: ‘optind’
optimize(init_model);
^~~~~~~~
optind
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:86:3: note: suggested alternative: ‘H_c2_from_c1’
T_c2_from_c1 = decompositions.front().T;
^~~~~~~~~~~~
H_c2_from_c1
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:86:41: error: ‘__gnu_cxx::_alloc_traits<std::allocatorvk::HomographyDecomposition >::value_type {aka struct vk::HomographyDecomposition}’ has no member named ‘T’
T_c2_from_c1 = decompositions.front().T;
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:309:25: error: invalid use of template-name ‘Sophus::SE3’ without an argument list
computeResiduals (const SE3& model, bool linearize_system, bool compute_weight_scale)
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:309:25: note: class template argument deduction is only available with -std=c++1z or -std=gnu++1z
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/se3.h:8:7: note: ‘template<class Scalar, int Options> class Sophus::SE3’ declared here
class SE3;
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual double vk::SecondOrderMinimisationSE3::computeResiduals(const int&, bool, bool)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:379:11: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> frame_jac;
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:17:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int Cols, int Options, int MaxRows, int MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:379:18: error: expected primary-expression before ‘double’
Matrix<double,2,6> frame_jac;
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:380:59: error: ‘frame_jac’ was not declared in this scope
frameJac_xyz2uv(xyz_tpl, cam_pyr[level].fx(), frame_jac);
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:386:11: error: ‘H’ was not declared in this scope
H += JJ.transpose();
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:387:11: error: ‘Jres_’ was not declared in this scope
Jres_ += Jres;
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:387:11: note: suggested alternative: ‘res’
Jres_ += Jres;
^~~~~
res
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual int vk::SecondOrderMinimisationSE3::solve()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:400:3: error: ‘x_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:400:8: error: ‘H_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:400:25: error: ‘Jres_’ was not declared in this scope
x_ = H_.ldlt().solve(-Jres_);
^~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: At global scope:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:407:14: error: ‘ModelType’ does not name a type; did you mean ‘decltype’?
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
decltype
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:407:37: error: ‘ModelType’ has not been declared
update(const ModelType& old_model, ModelType& new_model)
^~~~~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp: In member function ‘virtual void vk::SecondOrderMinimisationSE3::update(const int&, int&)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:409:15: error: ‘template<class Scalar_, int Options> class Sophus::SE3’ used without template parameters
new_model = SE3::exp(x_)*old_model;
^~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/img_align.cpp:409:24: error: ‘x_’ was not declared in this scope
new_model = SE3::exp(x_)*old_model;
^~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘bool vk::Homography::decompose()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:198:23: error: ‘__gnu_cxx::__alloc_traits<std::allocatorvk::HomographyDecomposition >::value_type {aka struct vk::HomographyDecomposition}’ has no member named ‘T’
decompositions[i].T = Sophus::SE3(R, t);
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:198:38: error: missing template arguments before ‘(’ token
decompositions[i].T = Sophus::SE3(R, t);
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp: In member function ‘void vk::Homography::findBestDecomposition()’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:262:19: error: missing template arguments before ‘T’
Sophus::SE3 T = decompositions[i].T;
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/homography.cpp:263:28: error: ‘T’ was not declared in this scope
Matrix3d Essential = T.rotation_matrix() * sqew(T.translation());
^
make[2]: *** [CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o] Error 1
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:15:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous
Matrix<double,2,6> & frame_jac)
^~~~~~
In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0,
from /opt/ros/melodic/include/sophus/so3.hpp:4,
from /opt/ros/melodic/include/sophus/se3.h:4,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:15:
/opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N>
using Matrix = Eigen::Matrix<Scalar, M, N>;
^
In file included from /usr/include/eigen3/Eigen/Core:346:0,
from /usr/include/eigen3/Eigen/Dense:1,
from /usr/include/eigen3/Eigen/Eigen:1,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/pinhole_camera.h:13,
from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:14:
/usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols> class Eigen::Matrix
class Matrix;
^~~~~~
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/pinhole_camera.cpp:15:0:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: ‘Matrix’ has not been declared
Matrix<double,2,6> & frame_jac)
^~~~~~
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:24: error: expected ‘,’ or ‘...’ before ‘<’ token
Matrix<double,2,6> & frame_jac)
^
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h: In function ‘void vk::frameJac_xyz2uv(const Vector3d&, const double&, int)’:
/home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:154:3: error: ‘frame_jac’ was not declared in this scope
frame_jac(0,0) = -1./z *focal_length;
^~~~~~~~~
make[2]: *** [CMakeFiles/vikit_common.dir/src/img_align.cpp.o] Error 1
make[2]: *** [CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o] Error 1
make[2]: *** [CMakeFiles/vikit_common.dir/src/homography.cpp.o] Error 1
make[1]: *** [CMakeFiles/vikit_common.dir/all] Error 2
make: *** [all] Error 2
cd /home/george/catkin_ws/build/vikit_common; catkin build --get-env vikit_common | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
.........................................................................................................................................................................................
Failed << vikit_common:make [ Exited with code 2 ]
Failed <<< vikit_common [ 9.5 seconds ]
Abandoned <<< vikit_ros [ Unrelated job failed ]
Abandoned <<< svo [ Unrelated job failed ]
Abandoned <<< svo_ros [ Unrelated job failed ]
[build] Summary: 5 of 9 packages succeeded.
[build] Ignored: None.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: 3 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 11.3 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
`

Hi Thanks for making this publicly available, I'm wondering can you release your VO results for KITTI odometry sequences.

Hi I tried to catkin build the code
But I met these error cloud you give me some suggestion to solve this problem?

/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp: In constructor ‘svo::FrameHandlerMonodepth::FrameHandlerMonodepth(vk::AbstractCamera*)’:
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:43:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘cnn_lo_near_fts_’
cnn_lo_near_fts_(vk::getParam("svo/cnn_lo_near_fts", 1.0f)),
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:44:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘cnn_hi_near_fts_’
cnn_hi_near_fts_(vk::getParam("svo/cnn_hi_near_fts", 30.0f)),
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:45:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘cnn_max_depth_’
cnn_max_depth_(vk::getParam("svo/cnn_max_depth", 80.0f)),
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:48:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘use_timer_’
use_timer_(true), // set true to show the elapsed time
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:49:3: error: class ‘svo::FrameHandlerMonodepth’ does not have any field named ‘optical_flow_’
optical_flow_(vk::getParam("svo/use_optical_flow", false))
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:57:16: error: ‘class svo::initialization::CNNVOInit’ has no member named ‘setCNNMaxDepth’
cnn_vo_init_.setCNNMaxDepth(cnn_max_depth_);
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:57:31: error: ‘cnn_max_depth_’ was not declared in this scope
cnn_vo_init_.setCNNMaxDepth(cnn_max_depth_);
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:61:3: error: ‘t_’ was not declared in this scope
t_ = new vk::Timer(true); // true to start and stop the timer manually
^
/home/zxp/catkin_ws/src/SVO/rpg_svo/svo/src/frame_handler_old.cpp:61:26: error: no matching function for call to ‘vk::Timer::Timer(bool)’
t_ = new vk::Timer(true); // true to start and stop the timer manually

Hi,
I'd like to know how accuracy the mono-camera could be. In the paper, the ATE evaluation metrics compute the total trajectory error.
However, it's not the official evaluation metrics of KITTI odometry DataSet.
In addition, I'd like to know the reason why the rotation alignment of reconstructed path is needed when computing the ATE?

roslaunch svo_ros kittiOffline00-02.launch
报错如下：
[ WARN] [1560427193.399648027]: Cannot find value for parameter: svo/odom_n_inliers, assigning default: 10
[ WARN] [1560427193.399959006]: Cannot find value for parameter: svo/odom_n_iter, assigning default: 10
Tracefile = /home/user/results/svo.csv
terminate called after throwing an instance of 'std::runtime_error'
what(): Could not open tracefile.
================================================================================REQUIRED process [svo-1] has died!
process has died [pid 9711, exit code -6, cmd /home/w/catkin_ws/devel/lib/svo_ros/vo_monodepth_offline __name:=svo __log:=/home/w/.ros/log/ee05cf74-8dd1-11e9-be04-4cedfb3da8b4/svo-1.log].
log file: /home/w/.ros/log/ee05cf74-8dd1-11e9-be04-4cedfb3da8b4/svo-1*.log
Initiating shutdown!

[svo-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Dear Yan,I want to know whether I need a GPU and cuda to train monodepth?Can I run this project in ubuntu16.04 CPU only?

Hi Yan,

I want to run the code on Robotcar Dataset. Could I know how can I generate the same images which are used in your experiments? I saw there are several files in the SDK and the SDK description is vague, making me feel very confused. Could you give me more instructions or some related scripts which you used before?

BTW I guesses you use the images contained in 'stereo_centre' for your generation. is it right?

So sorry for my disturbance. Thank you.

Hi, I am a student from northeastern university.
The catkin_make is ok, but when I launch the project
roslaunch svo_ros kittiOffline00-02.launch
the terminal gives the error as follow

`Tracefile = /home/user/results/svo.csv
terminate called after throwing an instance of 'std::runtime_error'
what(): Could not open tracefile.
=============================================================================REQUIRED process [svo-1] has died!
process has died [pid 15394, exit code -6, cmd /home/qiuf/catkin_ws/devel/lib/svo_ros/vo_monodepth_offline __name:=svo __log:=/home/qiuf/.ros/log/8f1c8800-26f5-11ea-b08e-bcee7b5da922/svo-1.log].
log file: /home/qiuf/.ros/log/8f1c8800-26f5-11ea-b08e-bcee7b5da922/svo-1*.log
Initiating shutdown!

[svo-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done`

Thanks a lot!

Hi,

Thank you for publishing this code. It is a great job. Could I know which code of ORB-SLAM is used for your comparison?
ORB-SLAM or ORB-SLAM2?

Thanks.

Hello, I've have generated the Monodepth predictions files like you indicated /media/nicolas/nicolas_seagate/datasets/kitti/odometry/dataset/sequences/00/disp_image_2_modelcity2kitti/depth_X.npy, but when I try to run the rosrun svo_ros test_readnpy command I got the following error:

terminate called after throwing an instance of 'std::runtime_error'
  what():  formatting error: typestrings not matching
Aborted (core dumped)

Do you have an idea of what it could be?

I am interested in synthesizing depth prediction by deep learning and pose estimation of traditional slam. Your work would be a good help for my work. really appreciated. Thanks

Is this suitable for UAVs?

Hi
Thanks for sharing!
I have a problem when I run the kittiOnline00-02Online.launch.
I have tested the library is successfully built by running the inference_monodepth executable.
but when I run the .launch file it will show this error.
[ INFO] [1546542125.339557424]: Found parameter: svo/cam_model, value: Pinhole
[ INFO] [1546542125.339840655]: Found parameter: svo/cam_width, value: 1232
[ INFO] [1546542125.340118023]: Found parameter: svo/cam_height, value: 376
[ INFO] [1546542125.340465069]: Found parameter: svo/cam_fx, value: 718.856
[ INFO] [1546542125.340864351]: Found parameter: svo/cam_fy, value: 718.856
[ INFO] [1546542125.341153789]: Found parameter: svo/cam_cx, value: 607.193
[ INFO] [1546542125.341452130]: Found parameter: svo/cam_cy, value: 185.216
[ INFO] [1546542125.341726113]: Found parameter: svo/cam_d0, value: 0
[ INFO] [1546542125.342016760]: Found parameter: svo/cam_d1, value: 0
[ INFO] [1546542125.342266660]: Found parameter: svo/cam_d2, value: 0
[ INFO] [1546542125.342588759]: Found parameter: svo/cam_d3, value: 0
================================================================================REQUIRED process [svo-1] has died!
process has died [pid 7880, exit code -11, cmd /home/zxp/catkin_ws/devel/lib/svo_ros/vo_monodepth_online __name:=svo __log:=/home/zxp/.ros/log/d649ff14-0f77-11e9-bb00-f43909319a96/svo-1.log].
log file: /home/zxp/.ros/log/d649ff14-0f77-11e9-bb00-f43909319a96/svo-1*.log
Initiating shutdown!

Could you give me some suggestion to figure out the problem?
Thanks

Hi,

Since it was not mentioned in our github, I thought maybe it is useful to say here. If you are using deep neural network depth estimation in KITTI, just one thing to doublecheck:

KITTI raw dataset has many splits and these splits have overlap with each other. It is important that you don't test on the data which was in your training (or mention it in the paper that which sequences was in the training set).

KITTI Stereo 2015 (know as KITTI split in monodepth paper):
00 yes
01 yes
02 yes
03 no
04 yes
05 yes
06 yes
07 yes
08 yes
09 yes
10 yes

Eigen Split:
00 no
01 yes
02 yes
03 no
04 no
05 no
06 yes
07 no
08 yes
09 yes
10 yes

"yes" means that the odometry sequence is in the training set. You can double check it yourself as well and find the mappings.

There is also another split used by SfMLearner which splits the odometry sequences 00-10 into test and train (I think 00-07 for train and 08-10 for test. see their paper)

What we did was we excluded the odometry sequence 00 -10 from the whole KITTI raw dataset and trained on that. Our pre-trained model will be released in our GitHub soon (hopefully in few days) in case other people want to just use it and evaluate their methods.

Thank you,
Ali

I tried to build CNN-SVO but i failed by these errors:

Base path: /home/lucas/catkin_ws
Source space: /home/lucas/catkin_ws/src
Build space: /home/lucas/catkin_ws/build
Devel space: /home/lucas/catkin_ws/devel
Install space: /home/lucas/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/lucas/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/lucas/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/lucas/Desktop/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/lucas/Desktop/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/lucas/catkin_ws/build/test_results
-- Forcing gtest/gmock from source, though one was otherwise available.
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
CMake Deprecation Warning at /usr/src/googletest/CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googlemock/CMakeLists.txt:41 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

CMake Deprecation Warning at /usr/src/googletest/googletest/CMakeLists.txt:48 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 8 packages in topological order:
-- ~~ - rqt_svo
-- ~~ - svo_analysis
-- ~~ - svo_msgs
-- ~~ - vikit_common
-- ~~ - vikit_py
-- ~~ - vikit_ros
-- ~~ - svo
-- ~~ - svo_ros
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'rqt_svo'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/rqt_svo)
CMake Deprecation Warning at CNN-SVO/rpg_svo/rqt_svo/CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- +++ processing catkin package: 'svo_analysis'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_analysis)
CMake Deprecation Warning at CNN-SVO/rpg_svo/svo_analysis/CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- +++ processing catkin package: 'svo_msgs'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_msgs)
CMake Deprecation Warning at CNN-SVO/rpg_svo/svo_msgs/CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- svo_msgs: 4 messages, 0 services
-- +++ processing catkin package: 'vikit_common'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_common)
CMake Deprecation Warning at CNN-SVO/rpg_vikit/vikit_common/CMakeLists.txt:3 (CMAKE_MINIMUM_REQUIRED):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'vikit_py'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_py)
CMake Deprecation Warning at CNN-SVO/rpg_vikit/vikit_py/CMakeLists.txt:1 (cmake_minimum_required):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- +++ processing catkin package: 'vikit_ros'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_ros)
CMake Deprecation Warning at CNN-SVO/rpg_vikit/vikit_ros/CMakeLists.txt:3 (CMAKE_MINIMUM_REQUIRED):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'svo'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo)
CMake Deprecation Warning at CNN-SVO/rpg_svo/svo/CMakeLists.txt:15 (CMAKE_MINIMUM_REQUIRED):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Found Boost: /usr/include (found version "1.65.1") found components: thread system chrono date_time atomic
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'svo_ros'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_ros)
CMake Deprecation Warning at CNN-SVO/rpg_svo/svo_ros/CMakeLists.txt:9 (CMAKE_MINIMUM_REQUIRED):
Compatibility with CMake < 2.8.12 will be removed from a future version of
CMake.

Update the VERSION argument value or use a ... suffix to tell
CMake that the project does not need compatibility with older versions.

-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found Boost: /usr/include (found version "1.65.1") found components: thread chrono system date_time atomic
-- Configuring done
-- Generating done
-- Build files have been written to: /home/lucas/catkin_ws/build

Running command: "make clean -j12 -l12" in "/home/lucas/catkin_ws/build"

lucas@hqy-P95xER:~/catkin_ws$ catkin_make
Base path: /home/lucas/catkin_ws
Source space: /home/lucas/catkin_ws/src
Build space: /home/lucas/catkin_ws/build
Devel space: /home/lucas/catkin_ws/devel
Install space: /home/lucas/catkin_ws/install

Running command: "make cmake_check_build_system" in "/home/lucas/catkin_ws/build"

Running command: "make -j12 -l12" in "/home/lucas/catkin_ws/build"

[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 1%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o
[ 2%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o
[ 4%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/vision.cpp.o
[ 5%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o
[ 6%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/performance_monitor.cpp.o
[ 8%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o
[ 9%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/user_input_thread.cpp.o
[ 10%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o
[ 10%] Built target _svo_msgs_generate_messages_check_deps_DenseInput
[ 10%] Built target _svo_msgs_generate_messages_check_deps_NbvTrajectory
[ 10%] Built target _svo_msgs_generate_messages_check_deps_Feature
[ 10%] Built target _svo_msgs_generate_messages_check_deps_Info
[ 12%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o
[ 13%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o
[ 14%] Generating C++ code from svo_msgs/Feature.msg
[ 16%] Generating Python from MSG svo_msgs/Feature
[ 17%] Generating Python from MSG svo_msgs/DenseInput
[ 18%] Generating C++ code from svo_msgs/DenseInput.msg
[ 20%] Generating C++ code from svo_msgs/Info.msg
[ 21%] Generating C++ code from svo_msgs/NbvTrajectory.msg
[ 22%] Generating Python from MSG svo_msgs/Info
[ 24%] Generating Python from MSG svo_msgs/NbvTrajectory
[ 25%] Generating EusLisp code from svo_msgs/Feature.msg
[ 25%] Built target svo_msgs_generate_messages_cpp
[ 27%] Generating Lisp code from svo_msgs/Feature.msg
[ 28%] Generating EusLisp code from svo_msgs/DenseInput.msg
[ 29%] Generating Lisp code from svo_msgs/DenseInput.msg
[ 31%] Generating EusLisp code from svo_msgs/Info.msg
[ 32%] Generating Lisp code from svo_msgs/Info.msg
[ 33%] Generating Python msg init.py for svo_msgs
[ 35%] Generating EusLisp code from svo_msgs/NbvTrajectory.msg
[ 36%] Generating Lisp code from svo_msgs/NbvTrajectory.msg
[ 37%] Generating Javascript code from svo_msgs/Feature.msg
[ 37%] Built target svo_msgs_generate_messages_lisp
[ 39%] Generating EusLisp manifest code for svo_msgs
[ 40%] Generating Javascript code from svo_msgs/DenseInput.msg
[ 41%] Generating Javascript code from svo_msgs/Info.msg
[ 43%] Generating Javascript code from svo_msgs/NbvTrajectory.msg
[ 43%] Built target svo_msgs_generate_messages_py
[ 43%] Built target svo_msgs_generate_messages_nodejs
[ 43%] Built target svo_msgs_generate_messages_eus
[ 43%] Built target svo_msgs_generate_messages
[ 44%] Linking CXX shared library /home/lucas/catkin_ws/devel/lib/libvikit_common.so
[ 44%] Built target vikit_common
[ 47%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_patch_score.dir/test/test_patch_score.cpp.o
[ 47%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_triangulation.dir/test/test_triangulation.cpp.o
[ 48%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_camera.dir/test/test_camera.cpp.o
[ 50%] Building CXX object CNN-SVO/rpg_vikit/vikit_ros/CMakeFiles/vikit_ros.dir/src/output_helper.cpp.o
[ 51%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/vikit_common/test_vk_common_patch_score
[ 51%] Built target test_vk_common_patch_score
[ 52%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/vikit_common/test_vk_common_camera
[ 54%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/vikit_common/test_vk_common_triangulation
[ 54%] Built target test_vk_common_camera
[ 54%] Built target test_vk_common_triangulation
[ 55%] Linking CXX shared library /home/lucas/catkin_ws/devel/lib/libvikit_ros.so
[ 55%] Built target vikit_ros
[ 56%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_mono.cpp.o
[ 58%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_base.cpp.o
[ 59%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_monodepth.cpp.o
[ 60%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame.cpp.o
[ 62%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/point.cpp.o
[ 63%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/map.cpp.o
[ 64%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/pose_optimizer.cpp.o
[ 66%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/initialization_monodepth.cpp.o
[ 67%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/matcher.cpp.o
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[ 81%] Linking CXX shared library /home/lucas/catkin_ws/devel/lib/libsvo.so
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[ 91%] Built target svo_visualizer_monodepth
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[ 95%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/svo_ros/test_readnpy
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/home/lucas/catkin_ws/devel/lib/libsvo.so: undefined reference to monodepth::MonoDepth::MonoDepth(int, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' collect2: error: ld returned 1 exit status CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo.dir/build.make:292: recipe for target '/home/lucas/catkin_ws/devel/lib/svo_ros/vo' failed make[2]: *** [/home/lucas/catkin_ws/devel/lib/svo_ros/vo] Error 1 CMakeFiles/Makefile2:2777: recipe for target 'CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo.dir/all' failed make[1]: *** [CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... CMakeFiles/vo_monodepth_online.dir/src/vo_monodepth_online.cpp.o: In function svo::VoNode::readImage(int const&)':
vo_monodepth_online.cpp:(.text+0xd83): undefined reference to cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)' /home/lucas/catkin_ws/devel/lib/libsvo_visualizer_online.so: undefined reference to cv::imwrite(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, cv::_InputArray const&, std::vector<int, std::allocator > const&)'
/home/lucas/catkin_ws/devel/lib/libsvo.so: undefined reference to monodepth::MonoDepth::MonoDepth(int, int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >)' collect2: error: ld returned 1 exit status CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo_monodepth_online.dir/build.make:292: recipe for target '/home/lucas/catkin_ws/devel/lib/svo_ros/vo_monodepth_online' failed make[2]: *** [/home/lucas/catkin_ws/devel/lib/svo_ros/vo_monodepth_online] Error 1 CMakeFiles/Makefile2:2719: recipe for target 'CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo_monodepth_online.dir/all' failed make[1]: *** [CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo_monodepth_online.dir/all] Error 2 [100%] Linking CXX executable /home/lucas/catkin_ws/devel/lib/svo_ros/vo_monodepth_offline CMakeFiles/vo_monodepth_offline.dir/src/vo_monodepth_offline.cpp.o: In function svo::VoNode::readImage(int const&)':
vo_monodepth_offline.cpp:(.text+0x12c9): undefined reference to cv::imread(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int)' /home/lucas/catkin_ws/devel/lib/libsvo.so: undefined reference to monodepth::MonoDepth::MonoDepth(int, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator >)'
collect2: error: ld returned 1 exit status
CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo_monodepth_offline.dir/build.make:292: recipe for target '/home/lucas/catkin_ws/devel/lib/svo_ros/vo_monodepth_offline' failed
make[2]: *** [/home/lucas/catkin_ws/devel/lib/svo_ros/vo_monodepth_offline] Error 1
CMakeFiles/Makefile2:2748: recipe for target 'CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo_monodepth_offline.dir/all' failed
make[1]: *** [CNN-SVO/rpg_svo/svo_ros/CMakeFiles/vo_monodepth_offline.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

I only know that errors may related to gcc version, but I have no idea to solve the problem, can someone help me？

How is your depth predictor trained? What is the code for training? What training set did you use?