songuke/dvo_slam

A fork of DVO SLAM to build on Linux Mint

dvo_slam's Issues

Error when building dvo_benchmark?

Hello!
I can build the dvo_core, dvo_slam, dvo_ros successfully but it failed when building dvo_benchmark?
The error message is as follows:

ccj@ccj:~/DVO_slam$ catkin_make --pkg dvo_benchmark -DCMAKE_BUILD_TYPE=Release
Base path: /home/ccj/DVO_slam
Source space: /home/ccj/DVO_slam/src
Build space: /home/ccj/DVO_slam/build
Devel space: /home/ccj/DVO_slam/devel
Install space: /home/ccj/DVO_slam/install

Running command: "make cmake_check_build_system" in "/home/ccj/DVO_slam/build"

Running command: "make -j4 -l4" in "/home/ccj/DVO_slam/build/dvo_benchmark"

[ 4%] Built target dvo_slam_gencfg
[ 40%] Built target dvo_core
[ 47%] Built target dvo_visualization
[ 57%] Built target dvo_ros
[ 95%] Built target dvo_slam
[ 97%] Linking CXX executable /home/ccj/DVO_slam/devel/lib/dvo_benchmark/benchmark
/usr/bin/ld: warning: libpcl_sample_consensus.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_sample_consensus.so.1.7
/usr/bin/ld: warning: libpcl_search.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_search.so.1.7
/usr/bin/ld: warning: libpcl_octree.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_octree.so.1.7
/usr/bin/ld: warning: libpcl_kdtree.so.1.7, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_search.so, may conflict with libpcl_kdtree.so.1.8
/usr/bin/ld: warning: libpcl_common.so.1.7, needed by /usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libpcl_search.so, may conflict with libpcl_common.so.1.8
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::Timestamped::~Timestamped()': keyframe_graph.cpp:(.text._ZN8dvo_slam11TimestampedD2Ev[_ZN8dvo_slam11TimestampedD5Ev]+0x8): undefined reference to g2o::OptimizableGraph::Data::~Data()'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::Timestamped::~Timestamped()': keyframe_graph.cpp:(.text._ZN8dvo_slam11TimestampedD0Ev[_ZN8dvo_slam11TimestampedD5Ev]+0xc): undefined reference to g2o::OptimizableGraph::Data::~Data()'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::internal::KeyframeGraphImpl::addGraph(g2o::OptimizableGraph*)': keyframe_graph.cpp:(.text._ZN8dvo_slam8internal17KeyframeGraphImpl8addGraphEPN3g2o16OptimizableGraphE[_ZN8dvo_slam8internal17KeyframeGraphImpl8addGraphEPN3g2o16OptimizableGraphE]+0x11e): undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o): In function dvo_slam::internal::KeyframeGraphImpl::insertNewKeyframe(boost::shared_ptr<dvo_slam::LocalMap> const&)': keyframe_graph.cpp:(.text._ZN8dvo_slam8internal17KeyframeGraphImpl17insertNewKeyframeERKN5boost10shared_ptrINS_8LocalMapEEE[_ZN8dvo_slam8internal17KeyframeGraphImpl17insertNewKeyframeERKN5boost10shared_ptrINS_8LocalMapEEE]+0x775): undefined reference to g2o::OptimizableGraph::Data::Data()'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o):(.rodata._ZTIN8dvo_slam11TimestampedE[_ZTIN8dvo_slam11TimestampedE]+0x10): undefined reference to typeinfo for g2o::OptimizableGraph::Data' /home/ccj/DVO_slam/devel/lib/libdvo_slam.a(local_map.cpp.o): In function dvo_slam::internal::LocalMapImpl::addFrameVertex(ros::Time const&)':
local_map.cpp:(.text._ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE[_ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE]+0x5d): undefined reference to g2o::OptimizableGraph::Data::Data()' local_map.cpp:(.text._ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE[_ZN8dvo_slam8internal12LocalMapImpl14addFrameVertexERKN3ros4TimeE]+0x80): undefined reference to g2o::OptimizableGraph::addVertex(g2o::HyperGraph::Vertex*, g2o::OptimizableGraph::Data*)'
/home/ccj/DVO_slam/devel/lib/libdvo_slam.a(map_serializer.cpp.o): In function dvo_slam::serialization::TrajectorySerializer::serialize(dvo_slam::KeyframeGraph const&)': map_serializer.cpp:(.text+0x765): undefined reference to typeinfo for g2o::OptimizableGraph::Data'
collect2: error: ld returned 1 exit status
dvo_benchmark/CMakeFiles/benchmark.dir/build.make:502: recipe for target '/home/ccj/DVO_slam/devel/lib/dvo_benchmark/benchmark' failed
make[2]: *** [/home/ccj/DVO_slam/devel/lib/dvo_benchmark/benchmark] Error 1
CMakeFiles/Makefile2:3440: recipe for target 'dvo_benchmark/CMakeFiles/benchmark.dir/all' failed
make[1]: *** [dvo_benchmark/CMakeFiles/benchmark.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed

Can anyone give me some suggestions? Thank you!!

Help！catkin_make is success,but running has a wrong!

I use eigen3.2.10. catkin_make is success,but running has a wrong!
If someone can solve it, I would be grateful！

roslaunch dvo_benchmark benchmark.launch dataset:=/home/leo/rosData/rgbd_dataset_freiburg1_room

process[rosout-1]: started with pid [11407]
started core service [/rosout]
process[benchmark-2]: started with pid [11410]

ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] }
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] }
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] }
================================================================================REQUIRED process [benchmark-2] has died!
process has died [pid 11410, exit code -11, cmd /home/leo/catkin_ws/devel/lib/dvo_benchmark/benchmark __name:=benchmark __log:=/home/leo/.ros/log/e22f1636-ddfe-11e6-80a0-b22afc541a62/benchmark-2.log].
log file: /home/leo/.ros/log/e22f1636-ddfe-11e6-80a0-b22afc541a62/benchmark-2*.log
Initiating shutdown!

error while building DVO SLAM

Hi
I've tried to compile the TUM DVO package according to the instructions above, but the last step "catkin_make" of dvo package doesn't work.

I'm working with the "Festo Robotino 3" and use Ubuntu 16.04, ROS Kinetic, RGB-D Kinect ONE.
When i try to compile this errors occur. It seems to be a problem with sophus inclulde files but i'm new with linux/ros. I hope some one can help me.

robotino@MKRoboLab:$ cd robotino_ws/
robotino@MKRoboLab:/robotino_ws$ catkin_make -DCMAKE_BUILD_TYPE=Release
Base path: /home/robotino/robotino_ws
Source space: /home/robotino/robotino_ws/src
Build space: /home/robotino/robotino_ws/build
Devel space: /home/robotino/robotino_ws/devel
Install space: /home/robotino/robotino_ws/install

Running command: "make cmake_check_build_system" in "/home/robotino/robotino_ws/build"

Running command: "make -j4 -l4" in "/home/robotino/robotino_ws/build"

[ 0%] Built target _robotino_msgs_generate_messages_check_deps_MotorReadings
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_ResetOdometry
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_PowerReadings
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetEncoderPosition
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetBHAPressures
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_GrapplerReadings
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_EncoderReadings
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetGrapplerAxis
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_GripperState
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_AnalogReadings
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_DigitalReadings
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_NorthStarReadings
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetGrapplerAxes
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_SetGripperState
[ 0%] Built target _robotino_msgs_generate_messages_check_deps_BHAReadings
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 4%] Built target robotino_laserrangefinder_node
[ 4%] Built target robotino_camera_node
[ 5%] Built target kinect2_registration
[ 5%] Built target actionlib_msgs_generate_messages_py
[ 5%] Building CXX object dvo_slam/dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o
[ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveActionGoal
[ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveFeedback
[ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveGoal
[ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveActionResult
[ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveResult
[ 5%] Built target actionlib_msgs_generate_messages_cpp
[ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveActionFeedback
[ 5%] Built target actionlib_msgs_generate_messages_eus
[ 5%] Built target actionlib_msgs_generate_messages_lisp
[ 5%] Built target _robotino_local_move_generate_messages_check_deps_LocalMoveAction
[ 5%] Built target actionlib_msgs_generate_messages_nodejs
[ 5%] Built target dvo_ros_gencfg
[ 6%] Built target joystick_teleop_node
[ 7%] Built target dvo_slam_gencfg
[ 15%] Built target robotino_msgs_generate_messages_py
[ 15%] Built target RobotinoLocalPlanner
[ 15%] Built target _dvo_slam_generate_messages_check_deps_PoseStampedArray
[ 21%] Built target robotino_msgs_generate_messages_lisp
[ 28%] Built target robotino_msgs_generate_messages_eus
[ 34%] Built target robotino_msgs_generate_messages_cpp
[ 40%] Built target robotino_msgs_generate_messages_nodejs
[ 41%] Built target kinect2_bridge
[ 42%] Built target kinect2_bridge_nodelet
[ 43%] Built target kinect2_calibration
[ 45%] Built target robotino_odometry_node
[ 46%] Built target kinect2_viewer
[ 55%] Built target robotino_node
[ 58%] Built target robotino_local_move_generate_messages_py
[ 61%] Built target robotino_local_move_generate_messages_cpp
[ 64%] Built target robotino_local_move_generate_messages_eus
[ 67%] Built target robotino_local_move_generate_messages_lisp
[ 70%] Built target robotino_local_move_generate_messages_nodejs
[ 72%] Built target robotino_local_move_server_node
[ 74%] Built target robotino_local_move_client_node
[ 76%] Built target robotino_safety_node
[ 77%] Built target keyboard_teleop_node
[ 78%] Built target dvo_slam_generate_messages_eus
[ 79%] Built target dvo_slam_generate_messages_py
[ 79%] Built target dvo_slam_generate_messages_cpp
[ 79%] Built target dvo_slam_generate_messages_nodejs
[ 80%] Built target dvo_slam_generate_messages_lisp
[ 80%] Built target robotino_local_move_generate_messages
[ 80%] Built target robotino_msgs_generate_messages
[ 80%] Built target dvo_slam_generate_messages
In file included from /usr/local/include/sophus/sophus.hpp:28:0,
from /usr/local/include/sophus/so3.hpp:29,
from /usr/local/include/sophus/se3.hpp:27,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/ensure.hpp:68:10: error: expected type-specifier before ‘decltype’
-> decltype(std::declvalstd::stringstream&() << std::declval(),
^
/usr/local/include/sophus/ensure.hpp:68:10: error: expected initializer before ‘decltype’
/usr/local/include/sophus/ensure.hpp:72:33: error: ‘false_type’ in namespace ‘std’ does not name a type
static auto test(...) -> std::false_type;
^
/usr/local/include/sophus/ensure.hpp:72:33: error: conflicting specifiers in declaration of ‘test’
/usr/local/include/sophus/ensure.hpp:75:38: error: ‘test’ was not declared in this scope
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:75:44: error: expected primary-expression before ‘>’ token
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:75:48: error: a function call cannot appear in a constant-expression
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:75:48: error: expected ‘;’ at end of member declaration
/usr/local/include/sophus/ensure.hpp:75:51: error: using-declaration for non-member at class scope
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:165:61: error: expected ‘,’ or ‘...’ before ‘&&’ token
const char* description, Args&&... args) {
^
/usr/local/include/sophus/ensure.hpp:165:71: error: parameter packs not expanded with ‘...’:
const char* description, Args&&... args) {
^
/usr/local/include/sophus/ensure.hpp:165:71: note: ‘Args’
/usr/local/include/sophus/ensure.hpp: In function ‘void Sophus::defaultEnsure(const char*, const char*, int, const char*, )’:
/usr/local/include/sophus/ensure.hpp:171:51: error: ‘forward’ is not a member of ‘std’
std::cout << details::FormatString(description, std::forward(args)...)
^
/usr/local/include/sophus/ensure.hpp:171:68: error: expected primary-expression before ‘>’ token
std::cout << details::FormatString(description, std::forward(args)...)
^
/usr/local/include/sophus/ensure.hpp:171:70: error: ‘args’ was not declared in this scope
std::cout << details::FormatString(description, std::forward(args)...)
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp: At global scope:
/usr/local/include/sophus/so3.hpp:56:49: error: template argument 2 is invalid
struct traits<Sophus::SO3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/so3.hpp:56:23: error: template argument 1 is invalid
struct traits<Sophus::SO3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/so3.hpp:63:48: error: template argument 2 is invalid
: traits<Sophus::SO3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/so3.hpp:62:15: error: template argument 1 is invalid
struct traits<Map<Sophus::SO3Group<_Scalar>, _Options>>
^
/usr/local/include/sophus/so3.hpp:70:54: error: template argument 2 is invalid
: traits<const Sophus::SO3Group<Scalar, Options>> {
^
/usr/local/include/sophus/so3.hpp:69:15: error: template argument 1 is invalid
struct traits<Map<const Sophus::SO3Group<Scalar>, Options>>
^
/usr/local/include/sophus/so3.hpp:92:9: error: expected nested-name-specifier before ‘Scalar’
using Scalar = typename Eigen::internal::traits::Scalar;
^
/usr/local/include/sophus/so3.hpp:94:9: error: expected nested-name-specifier before ‘QuaternionReference’
using QuaternionReference =
^
/usr/local/include/sophus/so3.hpp:97:9: error: expected nested-name-specifier before ‘ConstQuaternionReference’
using ConstQuaternionReference =
^
/usr/local/include/sophus/so3.hpp:109:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, N, N> Transformation;
^
/usr/local/include/sophus/so3.hpp:109:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:109:37: error: template argument 1 is invalid
typedef Eigen::Matrix<Scalar, N, N> Transformation;
^
/usr/local/include/sophus/so3.hpp:111:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, 3, 1> Point;
^
/usr/local/include/sophus/so3.hpp:111:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:111:37: error: template argument 1 is invalid
typedef Eigen::Matrix<Scalar, 3, 1> Point;
^
/usr/local/include/sophus/so3.hpp:113:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, DoF, 1> Tangent;
^
/usr/local/include/sophus/so3.hpp:113:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:113:39: error: template argument 1 is invalid
typedef Eigen::Matrix<Scalar, DoF, 1> Tangent;
^
/usr/local/include/sophus/so3.hpp:115:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, DoF, DoF> Adjoint;
^
/usr/local/include/sophus/so3.hpp:115:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:24,
from /home/robotino/robotino_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;

Help installing the sophus dependecies

I am following this github guide to installing dvo_slam on ros indigo ( https://github.com/songuke/dvo_slam ). I almost have it working, but every time i compile I get the following error:

/usr/bin/ld: /usr/local/lib/libg2o_core.a(hyper_graph_cpp.o): relocation R_X86_64_325 against '_ZTVN3g2o10HyperGraph4EdgeE' can not be used when making a shared object: recompile with -fPIC /usr/local/lib/libg2o_core.a: error adding symbols: Bad value collect2: error: ld returned 1 exit status

This error apparently is related to the dvo_slam/CMakeFiles/dvo_slam.dir/all file. I believe the error originated in the modified Sophus dependency folder, but I am unsure.

I also get the following CMake warning:

"(dev) at perception_pcl/pcl_ros/CMakeLists.txt:80 (add_dependencies): Policy CMP0046 is not set: Error on non-existent dependency in add_dependencies. Run "cmake -- help-policy CMP0046" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

The dependency target "pcl_ros_generate_messages_cpp" of target "pcl_ros_tf" does not exist."

I believe that this warning does not impact the error, but I am unsure. I'm including it in case it does.

Any help on resolving these would be greatly appreciated, as the package compiles 98% of the way.

error in compiling g2o

Hi songuke,
Sorry to bother.
I already tried your dvo_slam from there. I had a few issues compiling it. When building "g2o", "git checkout 67d5fa7", appear mistakes:
coutinho@coutinho-desktop:~/g2o$ git checkout 67d5fa7
fatal: Not a git repository (or any parent up to mount point /home)
Stopping at filesystem boundary (GIT_DISCOVERY_ACROSS_FILESYSTEM not set).

I overlooked the mistakes,execute the following code in sequence,when I perform "catkin make --pkg dvo_benchmark -DCMAKE_BUILD_TYPE=Release",there are errors:
Base path: /home/coutinho/dvo_slam
Source space: /home/coutinho/dvo_slam/src
Build space: /home/coutinho/dvo_slam/build
Devel space: /home/coutinho/dvo_slam/devel
Install space: /home/coutinho/dvo_slam/install

Running command: "make cmake_check_build_system" in "/home/coutinho/dvo_slam/build"

Running command: "make -j4 -l4" in "/home/coutinho/dvo_slam/build/dvo_benchmark"

[ 5%] Built target dvo_slam_gencfg
[ 43%] Built target dvo_core
[ 48%] Built target dvo_visualization
[ 56%] Built target dvo_ros
[ 97%] Built target dvo_slam
Linking CXX executable /home/coutinho/dvo_slam/devel/lib/dvo_benchmark/benchmark
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o)：in the function ‘dvo_slam::Timestamped::~Timestamped()’：
keyframe_graph.cpp:(.text._ZN8dvo_slam11TimestampedD2Ev[_ZN8dvo_slam11TimestampedD5Ev]+0x8)：‘g2o::OptimizableGraph::Data::~Data()’ undefined reference to it.
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o)：in the function ‘dvo_slam::Timestamped::~Timestamped()’：
keyframe_graph.cpp:(.text._ZN8dvo_slam11TimestampedD0Ev[_ZN8dvo_slam11TimestampedD0Ev]+0xc)：‘g2o::OptimizableGraph::Data::~Data()’undefined reference to it.
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o)：in the function ‘dvo_slam::internal::KeyframeGraphImpl::insertNewKeyframe(boost::shared_ptr<dvo_slam::LocalMap> const&)’：
keyframe_graph.cpp:(.text._ZN8dvo_slam8internal17KeyframeGraphImpl17insertNewKeyframeERKN5boost10shared_ptrINS_8LocalMapEEE[_ZN8dvo_slam8internal17KeyframeGraphImpl17insertNewKeyframeERKN5boost10shared_ptrINS_8LocalMapEEE]+0x63c)：‘g2o::OptimizableGraph::Data::Data()’ undefined reference to it.
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(keyframe_graph.cpp.o):(.rodata._ZTIN8dvo_slam11TimestampedE[_ZTIN8dvo_slam11TimestampedE]+0x10)：‘typeinfo for g2o::OptimizableGraph::Data’ undefined reference to it.
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(local_map.cpp.o)：in the function ‘dvo_slam::LocalMap::addFrame(boost::shared_ptrdvo::core::RgbdImagePyramid const&)’：
local_map.cpp:(.text+0x2563)：‘g2o::OptimizableGraph::Data::Data()’ undefined reference to it.
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(local_map.cpp.o)：in the function ‘dvo_slam::LocalMap::LocalMap(boost::shared_ptrdvo::core::RgbdImagePyramid const&, Eigen::Transform<double, 3, 2, 0> const&)’：
local_map.cpp:(.text+0x330e)：‘g2o::OptimizableGraph::Data::Data()’ undefined reference to it.
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(local_map.cpp.o)：in the function ‘dvo_slam::LocalMap::create(boost::shared_ptrdvo::core::RgbdImagePyramid const&, Eigen::Transform<double, 3, 2, 0> const&)’：
local_map.cpp:(.text+0x39b8)：‘g2o::OptimizableGraph::Data::Data()’ undefined reference to it.
/home/coutinho/dvo_slam/devel/lib/libdvo_slam.a(map_serializer.cpp.o)：in the function ‘dvo_slam::serialization::TrajectorySerializer::serialize(dvo_slam::KeyframeGraph const&)’：
map_serializer.cpp:(.text+0x39c)：‘typeinfo for g2o::OptimizableGraph::Data’ undefined reference to it.
collect2: error: ld returned 1 exit status
make[2]: *** [/home/coutinho/dvo_slam/devel/lib/dvo_benchmark/benchmark] error1
make[1]: *** [dvo_benchmark/CMakeFiles/benchmark.dir/all] error2
make: *** [all] errors 2
Invoking "make -j4 -l4" failed

My OS is Ubuntu 14.04 with ROS Indigo.
Can you help me?
thanks a lot~

Help me a lot，thank you very much！

For more easy, I think you can add this to readme.m:
wget http://bitbucket.org/eigen/eigen/get/3.2.8.tar.gz
tar -zxvf 3.2.8.tar.gz
That will be perfect.

error in building DVO SLAM

Hi songuke

I tried to build DVO SLAM by your instruction, and I use Ubuntu 16.04, ROS Kinetic, the g2o part is fine, but when I was building DVO SLAM, tons of errors about sophus occur.

error message:
sicong@sicong-Lenovo-ideapad-Y700-15ISK:~/catkin_ws$ catkin_make -DCMAKE_BUILD_TYPE=Release
Base path: /home/sicong/catkin_ws
Source space: /home/sicong/catkin_ws/src
Build space: /home/sicong/catkin_ws/build
Devel space: /home/sicong/catkin_ws/devel
Install space: /home/sicong/catkin_ws/install

Running command: "cmake /home/sicong/catkin_ws/src -DCMAKE_BUILD_TYPE=Release -DCATKIN_DEVEL_PREFIX=/home/sicong/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/sicong/catkin_ws/install -G Unix Makefiles" in "/home/sicong/catkin_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/sicong/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/sicong/catkin_ws/devel;/opt/ros/kinetic
-- This workspace overlays: /home/sicong/catkin_ws/devel;/opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/sicong/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.4
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 4 packages in topological order:
-- ~~ - dvo_core
-- ~~ - dvo_ros
-- ~~ - dvo_slam
-- ~~ - dvo_benchmark
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'dvo_core'
-- ==> add_subdirectory(dvo_slam/src/dvo_core)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- thread
-- chrono
-- system
-- date_time
-- atomic
-- Found Intel TBB
-- 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
-- Checking for module 'flann'
-- Found flann, version 1.8.4
-- Found Flann: /usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- looking for PCL_COMMON
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.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
-- 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/local/lib/libpcl_common.so;debug;/usr/local/lib/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/local/lib/libpcl_kdtree.so;debug;/usr/local/lib/libpcl_kdtree.so;optimized;/usr/local/lib/libpcl_octree.so;debug;/usr/local/lib/libpcl_octree.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;/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/libflann_cpp_s.a;debug;/usr/lib/x86_64-linux-gnu/libflann_cpp_s.a
-- +++ processing catkin package: 'dvo_ros'
-- ==> add_subdirectory(dvo_slam/src/dvo_ros)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'dvo_slam'
-- ==> add_subdirectory(dvo_slam/src/dvo_slam)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so
-- found g2o YES
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:166 (message):
catkin_package() DEPENDS on 'G2O' but neither 'G2O_INCLUDE_DIRS' nor
'G2O_LIBRARIES' is defined.
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
dvo_slam/src/dvo_slam/CMakeLists.txt:24 (catkin_package)

G2O lib: /usr/local/lib/libg2o_core.a
-- +++ processing catkin package: 'dvo_benchmark'
-- ==> add_subdirectory(dvo_slam/src/dvo_benchmark)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/sicong/catkin_ws/build

Running command: "make -j8 -l8" in "/home/sicong/catkin_ws/build"

Scanning dependencies of target dvo_ros_gencfg
Scanning dependencies of target dvo_slam_gencfg
Scanning dependencies of target dvo_core
[ 6%] Generating dynamic reconfigure files from cfg/KeyframeSlam.cfg: /home/sicong/catkin_ws/devel/include/dvo_slam/KeyframeSlamConfig.h /home/sicong/catkin_ws/devel/lib/python2.7/dist-packages/dvo_slam/cfg/KeyframeSlamConfig.py
[ 6%] Generating dynamic reconfigure files from cfg/CameraDenseTracker.cfg: /home/sicong/catkin_ws/devel/include/dvo_ros/CameraDenseTrackerConfig.h /home/sicong/catkin_ws/devel/lib/python2.7/dist-packages/dvo_ros/cfg/CameraDenseTrackerConfig.py
[ 6%] Generating dynamic reconfigure files from cfg/GraphVisualizer.cfg: /home/sicong/catkin_ws/devel/include/dvo_slam/GraphVisualizerConfig.h /home/sicong/catkin_ws/devel/lib/python2.7/dist-packages/dvo_slam/cfg/GraphVisualizerConfig.py
Generating reconfiguration files for GraphVisualizer in dvo_slam
Generating reconfiguration files for KeyframeSlam in dvo_slam
Generating reconfiguration files for CameraDenseTracker in dvo_ros
Wrote header file in /home/sicong/catkin_ws/devel/include/dvo_slam/GraphVisualizerConfig.h
Wrote header file in /home/sicong/catkin_ws/devel/include/dvo_ros/CameraDenseTrackerConfig.h
Wrote header file in /home/sicong/catkin_ws/devel/include/dvo_slam/KeyframeSlamConfig.h
[ 6%] Built target dvo_slam_gencfg
[ 6%] Built target dvo_ros_gencfg
[ 8%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/interpolation.cpp.o
[ 10%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/least_squares.cpp.o
[ 12%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/intrinsic_matrix.cpp.o
[ 14%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/math_sse.cpp.o
[ 17%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/rgbd_image.cpp.o
[ 21%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/rgbd_image_sse.cpp.o
[ 21%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/point_selection.cpp.o
[ 23%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/surface_pyramid.cpp.o
[ 25%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/core/weight_calculation.cpp.o
[ 27%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/util/histogram.cpp.o
[ 29%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/visualization/camera_trajectory_visualizer.cpp.o
[ 31%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o
[ 34%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking_impl.cpp.o
[ 36%] Building CXX object dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking_config.cpp.o
In file included from /usr/local/include/sophus/sophus.hpp:28:0,
from /usr/local/include/sophus/so3.hpp:29,
from /usr/local/include/sophus/se3.hpp:27,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/ensure.hpp:68:10: error: expected type-specifier before ‘decltype’
-> decltype(std::declvalstd::stringstream&() << std::declval(),
^
/usr/local/include/sophus/ensure.hpp:68:10: error: expected initializer before ‘decltype’
/usr/local/include/sophus/ensure.hpp:72:33: error: ‘false_type’ in namespace ‘std’ does not name a type
static auto test(...) -> std::false_type;
^
/usr/local/include/sophus/ensure.hpp:72:33: error: conflicting specifiers in declaration of ‘test’
/usr/local/include/sophus/ensure.hpp:75:38: error: ‘test’ was not declared in this scope
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:75:44: error: expected primary-expression before ‘>’ token
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:75:48: error: a function call cannot appear in a constant-expression
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:75:48: error: expected ‘;’ at end of member declaration
/usr/local/include/sophus/ensure.hpp:75:51: error: using-declaration for non-member at class scope
static const bool value = decltype(test(0))::value;
^
/usr/local/include/sophus/ensure.hpp:169:61: error: expected ‘,’ or ‘...’ before ‘&&’ token
const char* description, Args&&... args) {
^
/usr/local/include/sophus/ensure.hpp:169:71: error: parameter packs not expanded with ‘...’:
const char* description, Args&&... args) {
^
/usr/local/include/sophus/ensure.hpp:169:71: note: ‘Args’
/usr/local/include/sophus/ensure.hpp: In function ‘void Sophus::defaultEnsure(const char*, const char*, int, const char*, )’:
/usr/local/include/sophus/ensure.hpp:175:51: error: ‘forward’ is not a member of ‘std’
std::cout << details::FormatString(description, std::forward(args)...)
^
/usr/local/include/sophus/ensure.hpp:175:68: error: expected primary-expression before ‘>’ token
std::cout << details::FormatString(description, std::forward(args)...)
^
/usr/local/include/sophus/ensure.hpp:175:70: error: ‘args’ was not declared in this scope
std::cout << details::FormatString(description, std::forward(args)...)
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp: At global scope:
/usr/local/include/sophus/so3.hpp:56:49: error: template argument 2 is invalid
struct traits<Sophus::SO3Group<Scalar, Options>> {
^
/usr/local/include/sophus/so3.hpp:56:23: error: template argument 1 is invalid
struct traits<Sophus::SO3Group<Scalar, Options>> {
^
/usr/local/include/sophus/so3.hpp:63:48: error: template argument 2 is invalid
: traits<Sophus::SO3Group<Scalar, Options>> {
^
/usr/local/include/sophus/so3.hpp:62:15: error: template argument 1 is invalid
struct traits<Map<Sophus::SO3Group<Scalar>, Options>>
^
/usr/local/include/sophus/so3.hpp:70:54: error: template argument 2 is invalid
: traits<const Sophus::SO3Group<Scalar, Options>> {
^
/usr/local/include/sophus/so3.hpp:69:15: error: template argument 1 is invalid
struct traits<Map<const Sophus::SO3Group<Scalar>, Options>>
^
/usr/local/include/sophus/so3.hpp:92:9: error: expected nested-name-specifier before ‘Scalar’
using Scalar = typename Eigen::internal::traits::Scalar;
^
/usr/local/include/sophus/so3.hpp:94:9: error: expected nested-name-specifier before ‘QuaternionReference’
using QuaternionReference =
^
/usr/local/include/sophus/so3.hpp:97:9: error: expected nested-name-specifier before ‘ConstQuaternionReference’
using ConstQuaternionReference =
^
/usr/local/include/sophus/so3.hpp:109:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, N, N> Transformation;
^
/usr/local/include/sophus/so3.hpp:109:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:109:37: error: template argument 1 is invalid
typedef Eigen::Matrix<Scalar, N, N> Transformation;
^
/usr/local/include/sophus/so3.hpp:111:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, 3, 1> Point;
^
/usr/local/include/sophus/so3.hpp:111:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:111:37: error: template argument 1 is invalid
typedef Eigen::Matrix<Scalar, 3, 1> Point;
^
/usr/local/include/sophus/so3.hpp:113:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, DoF, 1> Tangent;
^
/usr/local/include/sophus/so3.hpp:113:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:113:39: error: template argument 1 is invalid
typedef Eigen::Matrix<Scalar, DoF, 1> Tangent;
^
/usr/local/include/sophus/so3.hpp:115:25: error: ‘Scalar’ was not declared in this scope
typedef Eigen::Matrix<Scalar, DoF, DoF> Adjoint;
^
/usr/local/include/sophus/so3.hpp:115:25: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:115:41: error: template argument 1 is invalid
typedef Eigen::Matrix<Scalar, DoF, DoF> Adjoint;
^
/usr/local/include/sophus/so3.hpp:150:15: error: ‘Scalar’ does not name a type
SOPHUS_FUNC Scalar* data() {
^
/usr/local/include/sophus/so3.hpp:159:21: error: ‘Scalar’ does not name a type
SOPHUS_FUNC const Scalar* data() const {
^
/usr/local/include/sophus/so3.hpp:170:29: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC Eigen::Matrix<Scalar, num_parameters, 1>
^
/usr/local/include/sophus/so3.hpp:170:29: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:170:54: error: template argument 1 is invalid
SOPHUS_FUNC Eigen::Matrix<Scalar, num_parameters, 1>
^
/usr/local/include/sophus/so3.hpp:185:17: error: ‘Scalar’ was not declared in this scope
Eigen::Matrix<Scalar, num_parameters, DoF> internalJacobian() const {
^
/usr/local/include/sophus/so3.hpp:185:17: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:185:44: error: template argument 1 is invalid
Eigen::Matrix<Scalar, num_parameters, DoF> internalJacobian() const {
^
/usr/local/include/sophus/so3.hpp:196:24: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC SO3Group inverse() const {
^
/usr/local/include/sophus/so3.hpp:196:24: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:196:30: error: template argument 1 is invalid
SOPHUS_FUNC SO3Group inverse() const {
^
/usr/local/include/sophus/so3.hpp:246:24: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC SO3Group operator*(const SO3Group& other) const {
^
/usr/local/include/sophus/so3.hpp:246:24: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:246:30: error: template argument 1 is invalid
SOPHUS_FUNC SO3Group operator*(const SO3Group& other) const {
^
/usr/local/include/sophus/so3.hpp:246:57: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC SO3Group operator*(const SO3Group& other) const {
^
/usr/local/include/sophus/so3.hpp:246:57: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:246:63: error: template argument 1 is invalid
SOPHUS_FUNC SO3Group operator*(const SO3Group& other) const {
^
/usr/local/include/sophus/so3.hpp:271:21: error: ‘Sophus::SO3GroupBase::Point Sophus::SO3GroupBase::operator*(const Point&) const’ cannot be overloaded
SOPHUS_FUNC Point operator*(const Point& p) const {
^
/usr/local/include/sophus/so3.hpp:246:32: error: with ‘int Sophus::SO3GroupBase::operator*(const int&) const’
SOPHUS_FUNC SO3Group operator*(const SO3Group& other) const {
^
/usr/local/include/sophus/so3.hpp:280:64: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC SO3GroupBase& operator*=(const SO3Group& other) {
^
/usr/local/include/sophus/so3.hpp:280:64: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:280:70: error: template argument 1 is invalid
SOPHUS_FUNC SO3GroupBase& operator*=(const SO3Group& other) {
^
/usr/local/include/sophus/so3.hpp:307:58: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC void setQuaternion(const Eigen::Quaternion& quaternion) {
^
/usr/local/include/sophus/so3.hpp:307:58: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:307:64: error: template argument 1 is invalid
SOPHUS_FUNC void setQuaternion(const Eigen::Quaternion& quaternion) {
^
/usr/local/include/sophus/so3.hpp:317:15: error: ‘ConstQuaternionReference’ does not name a type
SOPHUS_FUNC ConstQuaternionReference unit_quaternion() const {
^
/usr/local/include/sophus/so3.hpp:352:31: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC static SO3Group exp(const Tangent& omega) {
^
/usr/local/include/sophus/so3.hpp:352:31: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:352:37: error: template argument 1 is invalid
SOPHUS_FUNC static SO3Group exp(const Tangent& omega) {
^
/usr/local/include/sophus/so3.hpp:366:31: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC static SO3Group expAndTheta(const Tangent& omega,
^
/usr/local/include/sophus/so3.hpp:366:31: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:366:37: error: template argument 1 is invalid
SOPHUS_FUNC static SO3Group expAndTheta(const Tangent& omega,
^
/usr/local/include/sophus/so3.hpp:367:51: error: ‘Scalar’ has not been declared
Scalar* theta) {
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:434:32: error: ‘Scalar’ was not declared in this scope
int i, Eigen::Quaternion* internal_gen_q) {
^
/usr/local/include/sophus/so3.hpp:434:32: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:434:38: error: template argument 1 is invalid
int i, Eigen::Quaternion* internal_gen_q) {
^
/usr/local/include/sophus/so3.hpp:506:49: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC static Tangent log(const SO3Group& other) {
^
/usr/local/include/sophus/so3.hpp:506:49: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:506:55: error: template argument 1 is invalid
SOPHUS_FUNC static Tangent log(const SO3Group& other) {
^
/usr/local/include/sophus/so3.hpp:521:57: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC static Tangent logAndTheta(const SO3Group& other,
^
/usr/local/include/sophus/so3.hpp:521:57: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:521:63: error: template argument 1 is invalid
SOPHUS_FUNC static Tangent logAndTheta(const SO3Group& other,
^
/usr/local/include/sophus/so3.hpp:522:42: error: ‘Scalar’ has not been declared
Scalar* theta) {
^
/usr/local/include/sophus/so3.hpp:583:15: error: ‘QuaternionReference’ does not name a type
SOPHUS_FUNC QuaternionReference unit_quaternion_nonconst() {
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp: In member function ‘Sophus::SO3Group Sophus::SO3GroupBase::cast() const’:
/usr/local/include/sophus/so3.hpp:135:25: error: there are no arguments to ‘unit_quaternion’ that depend on a template parameter, so a declaration of ‘unit_quaternion’ must be available [-fpermissive]
unit_quaternion().template cast());
^
/usr/local/include/sophus/so3.hpp:135:25: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/usr/local/include/sophus/so3.hpp: In member function ‘int Sophus::SO3GroupBase::internalMultiplyByGenerator(int) const’:
/usr/local/include/sophus/so3.hpp:172:19: error: ‘Scalar’ was not declared in this scope
Eigen::Matrix<Scalar, num_parameters, 1> res;
^
/usr/local/include/sophus/so3.hpp:172:19: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:172:44: error: template argument 1 is invalid
Eigen::Matrix<Scalar, num_parameters, 1> res;
^
/usr/local/include/sophus/so3.hpp:173:29: error: type/value mismatch at argument 1 in template parameter list for ‘template<class Scalar, int Options> class Eigen::Quaternion’
Eigen::Quaternion internal_gen_q;
^
/usr/local/include/sophus/so3.hpp:173:29: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:175:47: error: there are no arguments to ‘unit_quaternion’ that depend on a template parameter, so a declaration of ‘unit_quaternion’ must be available [-fpermissive]
res.template head<4>() = (unit_quaternion() * internal_gen_q).coeffs();
^
/usr/local/include/sophus/so3.hpp: In member function ‘int Sophus::SO3GroupBase::internalJacobian() const’:
/usr/local/include/sophus/so3.hpp:186:19: error: ‘Scalar’ was not declared in this scope
Eigen::Matrix<Scalar, num_parameters, DoF> J;
^
/usr/local/include/sophus/so3.hpp:186:19: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:186:46: error: template argument 1 is invalid
Eigen::Matrix<Scalar, num_parameters, DoF> J;
^
/usr/local/include/sophus/so3.hpp:188:9: error: request for member ‘col’ in ‘J’, which is of non-class type ‘int’
J.col(i) = internalMultiplyByGenerator(i);
^
/usr/local/include/sophus/so3.hpp: In member function ‘int Sophus::SO3GroupBase::inverse() const’:
/usr/local/include/sophus/so3.hpp:197:21: error: ‘Scalar’ was not declared in this scope
return SO3Group(unit_quaternion().conjugate());
^
/usr/local/include/sophus/so3.hpp:197:21: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:197:27: error: template argument 1 is invalid
return SO3Group(unit_quaternion().conjugate());
^
/usr/local/include/sophus/so3.hpp:197:45: error: there are no arguments to ‘unit_quaternion’ that depend on a template parameter, so a declaration of ‘unit_quaternion’ must be available [-fpermissive]
return SO3Group(unit_quaternion().conjugate());
^
/usr/local/include/sophus/so3.hpp: In member function ‘Sophus::SO3GroupBase::Tangent Sophus::SO3GroupBase::log() const’:
/usr/local/include/sophus/so3.hpp:207:53: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC Tangent log() const { return SO3Group::log(this); }
^
/usr/local/include/sophus/so3.hpp:207:53: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:207:59: error: template argument 1 is invalid
SOPHUS_FUNC Tangent log() const { return SO3Group::log(this); }
^
/usr/local/include/sophus/so3.hpp: In member function ‘void Sophus::SO3GroupBase::normalize()’:
/usr/local/include/sophus/so3.hpp:215:5: error: ‘Scalar’ was not declared in this scope
Scalar length = unit_quaternion_nonconst().norm();
^
/usr/local/include/sophus/so3.hpp:215:5: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/sophus.hpp:28:0,
from /usr/local/include/sophus/so3.hpp:29,
from /usr/local/include/sophus/se3.hpp:27,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:216:5: error: ‘length’ was not declared in this scope
SOPHUS_ENSURE(length >= Constants::epsilon(),
^
/usr/local/include/sophus/so3.hpp:216:5: error: type/value mismatch at argument 1 in template parameter list for ‘template struct Sophus::Constants’
SOPHUS_ENSURE(length >= Constants::epsilon(),
^
/usr/local/include/sophus/so3.hpp:216:5: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:216:5: error: there are no arguments to ‘unit_quaternion_nonconst’ that depend on a template parameter, so a declaration of ‘unit_quaternion_nonconst’ must be available [-fpermissive]
SOPHUS_ENSURE(length >= Constants::epsilon(),
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:219:30: error: there are no arguments to ‘unit_quaternion_nonconst’ that depend on a template parameter, so a declaration of ‘unit_quaternion_nonconst’ must be available [-fpermissive]
unit_quaternion_nonconst().coeffs() /= length;
^
/usr/local/include/sophus/so3.hpp: In member function ‘Sophus::SO3GroupBase::Transformation Sophus::SO3GroupBase::matrix() const’:
/usr/local/include/sophus/so3.hpp:229:28: error: there are no arguments to ‘unit_quaternion’ that depend on a template parameter, so a declaration of ‘unit_quaternion’ must be available [-fpermissive]
return unit_quaternion().toRotationMatrix();
^
/usr/local/include/sophus/so3.hpp: In member function ‘Sophus::SO3GroupBase& Sophus::SO3GroupBase::operator=(const Sophus::SO3GroupBase&)’:
/usr/local/include/sophus/so3.hpp:238:30: error: there are no arguments to ‘unit_quaternion_nonconst’ that depend on a template parameter, so a declaration of ‘unit_quaternion_nonconst’ must be available [-fpermissive]
unit_quaternion_nonconst() = other.unit_quaternion();
^
/usr/local/include/sophus/so3.hpp: In member function ‘int Sophus::SO3GroupBase::operator(const int&) const’:
/usr/local/include/sophus/so3.hpp:247:14: error: ‘Scalar’ was not declared in this scope
SO3Group result(this);
^
/usr/local/include/sophus/so3.hpp:247:14: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:247:20: error: template argument 1 is invalid
SO3Group result(this);
^
/usr/local/include/sophus/so3.hpp: In member function ‘Sophus::SO3GroupBase::Point Sophus::SO3GroupBase::operator(const Point&) const’:
/usr/local/include/sophus/so3.hpp:272:28: error: there are no arguments to ‘unit_quaternion’ that depend on a template parameter, so a declaration of ‘unit_quaternion’ must be available [-fpermissive]
return unit_quaternion()._transformVector(p);
^
/usr/local/include/sophus/so3.hpp: In member function ‘Sophus::SO3GroupBase& Sophus::SO3GroupBase::operator=(const int&)’:
/usr/local/include/sophus/so3.hpp:281:30: error: there are no arguments to ‘unit_quaternion_nonconst’ that depend on a template parameter, so a declaration of ‘unit_quaternion_nonconst’ must be available [-fpermissive]
unit_quaternion_nonconst() = other.unit_quaternion();
^
/usr/local/include/sophus/so3.hpp:281:41: error: request for member ‘unit_quaternion’ in ‘other’, which is of non-class type ‘const int’
unit_quaternion_nonconst() = other.unit_quaternion();
^
/usr/local/include/sophus/so3.hpp:283:5: error: ‘Scalar’ was not declared in this scope
Scalar squared_norm = unit_quaternion().squaredNorm();
^
/usr/local/include/sophus/so3.hpp:283:5: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:292:9: error: ‘squared_norm’ was not declared in this scope
if (squared_norm != Scalar(1.0)) {
^
/usr/local/include/sophus/so3.hpp:293:32: error: there are no arguments to ‘unit_quaternion_nonconst’ that depend on a template parameter, so a declaration of ‘unit_quaternion_nonconst’ must be available [-fpermissive]
unit_quaternion_nonconst().coeffs() =
^
/usr/local/include/sophus/so3.hpp: In member function ‘void Sophus::SO3GroupBase::setQuaternion(const int&)’:
/usr/local/include/sophus/so3.hpp:308:30: error: there are no arguments to ‘unit_quaternion_nonconst’ that depend on a template parameter, so a declaration of ‘unit_quaternion_nonconst’ must be available [-fpermissive]
unit_quaternion_nonconst() = quaternion;
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static int Sophus::SO3GroupBase::exp(const Tangent&)’:
/usr/local/include/sophus/so3.hpp:353:5: error: ‘Scalar’ was not declared in this scope
Scalar theta;
^
/usr/local/include/sophus/so3.hpp:353:5: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:354:32: error: ‘theta’ was not declared in this scope
return expAndTheta(omega, &theta);
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static int Sophus::SO3GroupBase::expAndTheta(const Tangent&, int)’:
/usr/local/include/sophus/so3.hpp:368:5: error: ‘Scalar’ was not declared in this scope
Scalar theta_sq = omega.squaredNorm();
^
/usr/local/include/sophus/so3.hpp:368:5: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:369:19: error: ‘theta_sq’ was not declared in this scope
theta = sqrt(theta_sq);
^
/usr/local/include/sophus/so3.hpp:370:12: error: expected ‘;’ before ‘half_theta’
Scalar half_theta = static_cast(0.5) * (theta);
^
/usr/local/include/sophus/so3.hpp:372:12: error: expected ‘;’ before ‘imag_factor’
Scalar imag_factor;
^
/usr/local/include/sophus/so3.hpp:373:12: error: expected ‘;’ before ‘real_factor’
Scalar real_factor;
^
/usr/local/include/sophus/so3.hpp:375:36: error: type/value mismatch at argument 1 in template parameter list for ‘template struct Sophus::Constants’
if ((theta) < Constants::epsilon()) {
^
/usr/local/include/sophus/so3.hpp:375:36: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:376:14: error: expected ‘;’ before ‘theta_po4’
Scalar theta_po4 = theta_sq * theta_sq;
^
/usr/local/include/sophus/so3.hpp:377:7: error: ‘imag_factor’ was not declared in this scope
imag_factor = static_cast(0.5) -
^
/usr/local/include/sophus/so3.hpp:377:33: error: ‘Scalar’ does not name a type
imag_factor = static_cast(0.5) -
^
/usr/local/include/sophus/so3.hpp:378:33: error: ‘Scalar’ does not name a type
static_cast(1.0 / 48.0) * theta_sq +
^
/usr/local/include/sophus/so3.hpp:379:33: error: ‘Scalar’ does not name a type
static_cast(1.0 / 3840.0) * theta_po4;
^
/usr/local/include/sophus/so3.hpp:379:57: error: ‘theta_po4’ was not declared in this scope
static_cast(1.0 / 3840.0) * theta_po4;
^
/usr/local/include/sophus/so3.hpp:380:7: error: ‘real_factor’ was not declared in this scope
real_factor = static_cast(1) -
^
/usr/local/include/sophus/so3.hpp:380:33: error: ‘Scalar’ does not name a type
real_factor = static_cast(1) -
^
/usr/local/include/sophus/so3.hpp:381:33: error: ‘Scalar’ does not name a type
static_cast(0.5) * theta_sq +
^
/usr/local/include/sophus/so3.hpp:382:33: error: ‘Scalar’ does not name a type
static_cast(1.0 / 384.0) * theta_po4;
^
/usr/local/include/sophus/so3.hpp:384:14: error: expected ‘;’ before ‘sin_half_theta’
Scalar sin_half_theta = sin(half_theta);
^
/usr/local/include/sophus/so3.hpp:385:7: error: ‘imag_factor’ was not declared in this scope
imag_factor = sin_half_theta / (theta);
^
/usr/local/include/sophus/so3.hpp:385:21: error: ‘sin_half_theta’ was not declared in this scope
imag_factor = sin_half_theta / (theta);
^
/usr/local/include/sophus/so3.hpp:386:7: error: ‘real_factor’ was not declared in this scope
real_factor = cos(half_theta);
^
/usr/local/include/sophus/so3.hpp:386:25: error: ‘half_theta’ was not declared in this scope
real_factor = cos(half_theta);
^
/usr/local/include/sophus/so3.hpp:389:27: error: type/value mismatch at argument 1 in template parameter list for ‘template<class _Scalar, int _Options> class Sophus::SO3Group’
return SO3Group(Eigen::Quaternion(
^
/usr/local/include/sophus/so3.hpp:389:27: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:389:53: error: type/value mismatch at argument 1 in template parameter list for ‘template<class Scalar, int Options> class Eigen::Quaternion’
return SO3Group(Eigen::Quaternion(
^
/usr/local/include/sophus/so3.hpp:389:53: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:390:9: error: ‘real_factor’ was not declared in this scope
real_factor, imag_factor * omega.x(), imag_factor * omega.y(),
^
/usr/local/include/sophus/so3.hpp:390:22: error: ‘imag_factor’ was not declared in this scope
real_factor, imag_factor * omega.x(), imag_factor * omega.y(),
^
/usr/local/include/sophus/so3.hpp:390:42: error: request for member ‘x’ in ‘omega’, which is of non-class type ‘const Tangent {aka const int}’
real_factor, imag_factor * omega.x(), imag_factor * omega.y(),
^
/usr/local/include/sophus/so3.hpp:390:67: error: request for member ‘y’ in ‘omega’, which is of non-class type ‘const Tangent {aka const int}’
real_factor, imag_factor * omega.x(), imag_factor * omega.y(),
^
/usr/local/include/sophus/so3.hpp:391:29: error: request for member ‘z’ in ‘omega’, which is of non-class type ‘const Tangent {aka const int}’
imag_factor * omega.z()));
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase::Transformation Sophus::SO3GroupBase::generator(int)’:
/usr/local/include/sophus/so3.hpp:423:7: error: request for member ‘setZero’ in ‘e’, which is of non-class type ‘Sophus::SO3GroupBase::Tangent {aka int}’
e.setZero();
^
/usr/local/include/sophus/so3.hpp:424:8: error: invalid types ‘Sophus::SO3GroupBase::Tangent {aka int}[int]’ for array subscript
e[i] = static_cast(1);
^
/usr/local/include/sophus/so3.hpp:424:24: error: ‘Scalar’ does not name a type
e[i] = static_cast(1);
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static void Sophus::SO3GroupBase::internalGenerator(int, int)’:
/usr/local/include/sophus/so3.hpp:439:21: error: request for member ‘coeffs’ in ‘internal_gen_q->’, which is of non-class type ‘int’
internal_gen_q->coeffs()[i] = static_cast(0.5);
^
/usr/local/include/sophus/so3.hpp:439:47: error: ‘Scalar’ does not name a type
internal_gen_q->coeffs()[i] = static_cast(0.5);
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase::Transformation Sophus::SO3GroupBase::hat(const Tangent&)’:
/usr/local/include/sophus/so3.hpp:458:26: error: ‘Scalar’ does not name a type
Omega << static_cast(0), -omega(2), omega(1), omega(2),
^
/usr/local/include/sophus/so3.hpp:458:46: error: expression cannot be used as a function
Omega << static_cast(0), -omega(2), omega(1), omega(2),
^
/usr/local/include/sophus/so3.hpp:458:56: error: expression cannot be used as a function
Omega << static_cast(0), -omega(2), omega(1), omega(2),
^
/usr/local/include/sophus/so3.hpp:458:66: error: expression cannot be used as a function
Omega << static_cast(0), -omega(2), omega(1), omega(2),
^
/usr/local/include/sophus/so3.hpp:459:21: error: ‘Scalar’ does not name a type
static_cast(0), -omega(0), -omega(1), omega(0),
^
/usr/local/include/sophus/so3.hpp:459:41: error: expression cannot be used as a function
static_cast(0), -omega(0), -omega(1), omega(0),
^
/usr/local/include/sophus/so3.hpp:459:52: error: expression cannot be used as a function
static_cast(0), -omega(0), -omega(1), omega(0),
^
/usr/local/include/sophus/so3.hpp:459:62: error: expression cannot be used as a function
static_cast(0), -omega(0), -omega(1), omega(0),
^
/usr/local/include/sophus/so3.hpp:460:21: error: ‘Scalar’ does not name a type
static_cast(0);
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase::Tangent Sophus::SO3GroupBase::lieBracket(const Tangent&, const Tangent&)’:
/usr/local/include/sophus/so3.hpp:487:19: error: request for member ‘cross’ in ‘omega1’, which is of non-class type ‘const Tangent {aka const int}’
return omega1.cross(omega2);
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase::Tangent Sophus::SO3GroupBase::log(const int&)’:
/usr/local/include/sophus/so3.hpp:507:5: error: ‘Scalar’ was not declared in this scope
Scalar theta;
^
/usr/local/include/sophus/so3.hpp:507:5: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:508:32: error: ‘theta’ was not declared in this scope
return logAndTheta(other, &theta);
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase::Tangent Sophus::SO3GroupBase::logAndTheta(const int&, int)’:
/usr/local/include/sophus/so3.hpp:523:5: error: ‘Scalar’ was not declared in this scope
Scalar squared_n = other.unit_quaternion().vec().squaredNorm();
^
/usr/local/include/sophus/so3.hpp:523:5: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:524:12: error: expected ‘;’ before ‘n’
Scalar n = sqrt(squared_n);
^
/usr/local/include/sophus/so3.hpp:525:12: error: expected ‘;’ before ‘w’
Scalar w = other.unit_quaternion().w();
^
/usr/local/include/sophus/so3.hpp:527:12: error: expected ‘;’ before ‘two_atan_nbyw_by_n’
Scalar two_atan_nbyw_by_n;
^
/usr/local/include/sophus/so3.hpp:536:9: error: ‘n’ was not declared in this scope
if (n < Constants::epsilon()) {
^
/usr/local/include/sophus/so3.hpp:536:29: error: type/value mismatch at argument 1 in template parameter list for ‘template struct Sophus::Constants’
if (n < Constants::epsilon()) {
^
/usr/local/include/sophus/so3.hpp:536:29: note: expected a type, got ‘Scalar’
In file included from /usr/local/include/sophus/sophus.hpp:28:0,
from /usr/local/include/sophus/so3.hpp:29,
from /usr/local/include/sophus/se3.hpp:27,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:539:7: error: ‘w’ was not declared in this scope
SOPHUS_ENSURE(abs(w) >= Constants::epsilon(),
^
/usr/local/include/sophus/so3.hpp:539:7: error: type/value mismatch at argument 1 in template parameter list for ‘template struct Sophus::Constants’
SOPHUS_ENSURE(abs(w) >= Constants::epsilon(),
^
/usr/local/include/sophus/so3.hpp:539:7: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:539:7: error: request for member ‘unit_quaternion’ in ‘other’, which is of non-class type ‘const int’
SOPHUS_ENSURE(abs(w) >= Constants::epsilon(),
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:542:14: error: expected ‘;’ before ‘squared_w’
Scalar squared_w = w * w;
^
/usr/local/include/sophus/so3.hpp:543:7: error: ‘two_atan_nbyw_by_n’ was not declared in this scope
two_atan_nbyw_by_n =
^
/usr/local/include/sophus/so3.hpp:544:23: error: ‘Scalar’ does not name a type
static_cast(2) / w -
^
/usr/local/include/sophus/so3.hpp:545:23: error: ‘Scalar’ does not name a type
static_cast(2) * (squared_n) / (w * squared_w);
^
/usr/local/include/sophus/so3.hpp:545:37: error: ‘squared_n’ was not declared in this scope
static_cast(2) * (squared_n) / (w * squared_w);
^
/usr/local/include/sophus/so3.hpp:545:55: error: ‘squared_w’ was not declared in this scope
static_cast(2) * (squared_n) / (w * squared_w);
^
/usr/local/include/sophus/so3.hpp:547:15: error: ‘w’ was not declared in this scope
if (abs(w) < Constants::epsilon()) {
^
/usr/local/include/sophus/so3.hpp:547:36: error: type/value mismatch at argument 1 in template parameter list for ‘template struct Sophus::Constants’
if (abs(w) < Constants::epsilon()) {
^
/usr/local/include/sophus/so3.hpp:547:36: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:548:29: error: ‘Scalar’ does not name a type
if (w > static_cast(0)) {
^
/usr/local/include/sophus/so3.hpp:549:11: error: ‘two_atan_nbyw_by_n’ was not declared in this scope
two_atan_nbyw_by_n = Constants::pi() / n;
^
/usr/local/include/sophus/so3.hpp:549:48: error: type/value mismatch at argument 1 in template parameter list for ‘template struct Sophus::Constants’
two_atan_nbyw_by_n = Constants::pi() / n;
^
/usr/local/include/sophus/so3.hpp:549:48: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:551:11: error: ‘two_atan_nbyw_by_n’ was not declared in this scope
two_atan_nbyw_by_n = -Constants::pi() / n;
^
/usr/local/include/sophus/so3.hpp:551:49: error: type/value mismatch at argument 1 in template parameter list for ‘template struct Sophus::Constants’
two_atan_nbyw_by_n = -Constants::pi() / n;
^
/usr/local/include/sophus/so3.hpp:551:49: note: expected a type, got ‘Scalar’
/usr/local/include/sophus/so3.hpp:554:9: error: ‘two_atan_nbyw_by_n’ was not declared in this scope
two_atan_nbyw_by_n = static_cast(2) * atan(n / w) / n;
^
/usr/local/include/sophus/so3.hpp:554:42: error: ‘Scalar’ does not name a type
two_atan_nbyw_by_n = static_cast(2) * atan(n / w) / n;
^
/usr/local/include/sophus/so3.hpp:558:14: error: ‘two_atan_nbyw_by_n’ was not declared in this scope
theta = two_atan_nbyw_by_n * n;
^
/usr/local/include/sophus/so3.hpp:558:35: error: ‘n’ was not declared in this scope
theta = two_atan_nbyw_by_n * n;
^
/usr/local/include/sophus/so3.hpp:560:39: error: request for member ‘unit_quaternion’ in ‘other’, which is of non-class type ‘const int’
return two_atan_nbyw_by_n * other.unit_quaternion().vec();
^
/usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase::Tangent Sophus::SO3GroupBase::vee(const Transformation&)’:
/usr/local/include/sophus/so3.hpp:575:24: error: ‘Scalar’ does not name a type
return static_cast(0.5) * Tangent(Omega(2, 1) - Omega(1, 2),
^
/usr/local/include/sophus/so3.hpp:575:57: error: expression cannot be used as a function
return static_cast(0.5) * Tangent(Omega(2, 1) - Omega(1, 2),
^
/usr/local/include/sophus/so3.hpp:575:71: error: expression cannot be used as a function
return static_cast(0.5) * Tangent(Omega(2, 1) - Omega(1, 2),
^
/usr/local/include/sophus/so3.hpp:576:57: error: expression cannot be used as a function
Omega(0, 2) - Omega(2, 0),
^
/usr/local/include/sophus/so3.hpp:576:71: error: expression cannot be used as a function
Omega(0, 2) - Omega(2, 0),
^
/usr/local/include/sophus/so3.hpp:577:57: error: expression cannot be used as a function
Omega(1, 0) - Omega(0, 1));
^
/usr/local/include/sophus/so3.hpp:577:71: error: expression cannot be used as a function
Omega(1, 0) - Omega(0, 1));
^
/usr/local/include/sophus/so3.hpp: At global scope:
/usr/local/include/sophus/so3.hpp:592:64: error: template argument 2 is invalid
class SO3Group : public SO3GroupBase<SO3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/so3.hpp:592:38: error: template argument 1 is invalid
class SO3Group : public SO3GroupBase<SO3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/so3.hpp:593:53: error: ‘Base’ was not declared in this scope
typedef SO3GroupBase<SO3Group<_Scalar, _Options>> Base;
^
/usr/local/include/sophus/so3.hpp:593:53: error: template argument 2 is invalid
/usr/local/include/sophus/so3.hpp:593:24: error: template argument 1 is invalid
typedef SO3GroupBase<SO3Group<_Scalar, _Options>> Base;
^
/usr/local/include/sophus/so3.hpp:597:72: error: ‘::Scalar’ has not been declared
typedef typename Eigen::internal::traits<SO3Group<_Scalar, Options>>::Scalar
^
/usr/local/include/sophus/so3.hpp:597:72: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:598:7: error: template argument 2 is invalid
Scalar;
^
/usr/local/include/sophus/so3.hpp:597:44: error: template argument 1 is invalid
typedef typename Eigen::internal::traits<SO3Group<_Scalar, _Options>>::Scalar
^
/usr/local/include/sophus/so3.hpp:598:13: error: expected identifier before ‘;’ token
Scalar;
^
/usr/local/include/sophus/so3.hpp:601:35: error: ‘::QuaternionType’ has not been declared
SO3Group<_Scalar, _Options>>::QuaternionType& QuaternionReference;
^
/usr/local/include/sophus/so3.hpp:601:53: error: ‘QuaternionReference’ was not declared in this scope
SO3Group<_Scalar, _Options>>::QuaternionType& QuaternionReference;
^
/usr/local/include/sophus/so3.hpp:601:53: error: template argument 2 is invalid
/usr/local/include/sophus/so3.hpp:601:7: error: template argument 1 is invalid
SO3Group<_Scalar, _Options>>::QuaternionType& QuaternionReference;
^
/usr/local/include/sophus/so3.hpp:601:72: error: expected identifier before ‘;’ token
SO3Group<_Scalar, _Options>>::QuaternionType& QuaternionReference;
^
/usr/local/include/sophus/so3.hpp:603:35: error: ‘::QuaternionType’ has not been declared
SO3Group<_Scalar, _Options>>::QuaternionType& ConstQuaternionReference;
^
/usr/local/include/sophus/so3.hpp:603:53: error: ‘ConstQuaternionReference’ was not declared in this scope
SO3Group<_Scalar, _Options>>::QuaternionType& ConstQuaternionReference;
^
/usr/local/include/sophus/so3.hpp:603:53: error: template argument 2 is invalid
/usr/local/include/sophus/so3.hpp:603:7: error: template argument 1 is invalid
SO3Group<_Scalar, _Options>>::QuaternionType& ConstQuaternionReference;
^
/usr/local/include/sophus/so3.hpp:603:77: error: expected identifier before ‘;’ token
SO3Group<_Scalar, _Options>>::QuaternionType& ConstQuaternionReference;
^
/usr/local/include/sophus/so3.hpp:603:77: error: qualifiers can only be specified for objects and functions
/usr/local/include/sophus/so3.hpp:606:20: error: ‘Base’ has not been declared
typedef typename Base::Transformation Transformation;
^
/usr/local/include/sophus/so3.hpp:608:20: error: ‘Base’ has not been declared
typedef typename Base::Point Point;
^
/usr/local/include/sophus/so3.hpp:610:20: error: ‘Base’ has not been declared
typedef typename Base::Tangent Tangent;
^
/usr/local/include/sophus/so3.hpp:612:20: error: ‘Base’ has not been declared
typedef typename Base::Adjoint Adjoint;
^
/usr/local/include/sophus/so3.hpp:615:55: error: template argument 2 is invalid
friend class SO3GroupBase<SO3Group<_Scalar, _Options>>;
^
/usr/local/include/sophus/so3.hpp:615:29: error: template argument 1 is invalid
friend class SO3GroupBase<SO3Group<_Scalar, _Options>>;
^
/usr/local/include/sophus/so3.hpp:615:3: error: friend declaration does not name a class or function
friend class SO3GroupBase<SO3Group<_Scalar, Options>>;
^
/usr/local/include/sophus/so3.hpp:647:57: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC explicit SO3Group(const Eigen::Quaternion& quat)
^
/usr/local/include/sophus/so3.hpp:647:57: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:647:63: error: template argument 1 is invalid
SOPHUS_FUNC explicit SO3Group(const Eigen::Quaternion& quat)
^
/usr/local/include/sophus/so3.hpp:647:24: error: ‘Sophus::SO3Group<Scalar, Options>::SO3Group(const int&)’ cannot be overloaded
SOPHUS_FUNC explicit SO3Group(const Eigen::Quaternion& quat)
^
/usr/local/include/sophus/so3.hpp:640:15: error: with ‘Sophus::SO3Group<Scalar, Options>::SO3Group(const Transformation&)’
SOPHUS_FUNC SO3Group(const Transformation& R) : unit_quaternion(R) {}
^
/usr/local/include/sophus/so3.hpp:667:19: error: expected ‘)’ before ‘alpha1’
SO3Group(Scalar alpha1, Scalar alpha2, Scalar alpha3) {
^
/usr/local/include/sophus/so3.hpp:680:15: error: ‘ConstQuaternionReference’ does not name a type
SOPHUS_FUNC ConstQuaternionReference unit_quaternion() const {
^
/usr/local/include/sophus/so3.hpp:687:15: error: ‘QuaternionReference’ does not name a type
SOPHUS_FUNC QuaternionReference unit_quaternion_nonconst() {
^
/usr/local/include/sophus/so3.hpp:691:21: error: ‘Scalar’ was not declared in this scope
Eigen::Quaternion unit_quaternion;
^
/usr/local/include/sophus/so3.hpp:691:21: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:691:27: error: template argument 1 is invalid
Eigen::Quaternion unit_quaternion;
^
/usr/local/include/sophus/so3.hpp: In constructor ‘Sophus::SO3Group<Scalar, Options>::SO3Group()’:
/usr/local/include/sophus/so3.hpp:625:38: error: ‘Scalar’ does not name a type
: unit_quaternion(static_cast(1), static_cast(0),
^
/usr/local/include/sophus/so3.hpp:625:62: error: ‘Scalar’ does not name a type
: unit_quaternion(static_cast(1), static_cast(0),
^
/usr/local/include/sophus/so3.hpp:626:38: error: ‘Scalar’ does not name a type
static_cast(0), static_cast(0)) {}
^
/usr/local/include/sophus/so3.hpp:626:62: error: ‘Scalar’ does not name a type
static_cast(0), static_cast(0)) {}
^
/usr/local/include/sophus/so3.hpp: In constructor ‘Sophus::SO3Group<_Scalar, _Options>::SO3Group(const int&)’:
/usr/local/include/sophus/so3.hpp:649:5: error: ‘Base’ has not been declared
Base::normalize();
^
/usr/local/include/sophus/so3.hpp: At global scope:
/usr/local/include/sophus/so3.hpp:705:74: error: template argument 2 is invalid
: public Sophus::SO3GroupBase<Map<Sophus::SO3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/so3.hpp:705:35: error: template argument 1 is invalid
: public Sophus::SO3GroupBase<Map<Sophus::SO3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/so3.hpp:706:74: error: ‘Base’ was not declared in this scope
typedef Sophus::SO3GroupBase<Map<Sophus::SO3Group<_Scalar>, _Options>> Base;
^
/usr/local/include/sophus/so3.hpp:706:74: error: template argument 2 is invalid
/usr/local/include/sophus/so3.hpp:706:32: error: template argument 1 is invalid
typedef Sophus::SO3GroupBase<Map<Sophus::SO3Group<_Scalar>, _Options>> Base;
^
/usr/local/include/sophus/so3.hpp:719:20: error: ‘Base’ has not been declared
typedef typename Base::Transformation Transformation;
^
/usr/local/include/sophus/so3.hpp:721:20: error: ‘Base’ has not been declared
typedef typename Base::Point Point;
^
/usr/local/include/sophus/so3.hpp:723:20: error: ‘Base’ has not been declared
typedef typename Base::Tangent Tangent;
^
/usr/local/include/sophus/so3.hpp:725:20: error: ‘Base’ has not been declared
typedef typename Base::Adjoint Adjoint;
^
/usr/local/include/sophus/so3.hpp:728:76: error: template argument 2 is invalid
friend class Sophus::SO3GroupBase<Map<Sophus::SO3Group<_Scalar>, _Options>>;
^
/usr/local/include/sophus/so3.hpp:728:37: error: template argument 1 is invalid
friend class Sophus::SO3GroupBase<Map<Sophus::SO3Group<_Scalar>, _Options>>;
^
/usr/local/include/sophus/so3.hpp:728:3: error: friend declaration does not name a class or function
friend class Sophus::SO3GroupBase<Map<Sophus::SO3Group<_Scalar>, _Options>>;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:754:11: error: ‘Base’ has not been declared
using Base::operator =;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:731:9: error: ‘Base’ has not been declared
using Base::operator=;
^
/usr/local/include/sophus/so3.hpp:732:9: error: ‘Base’ has not been declared
using Base::operator;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/local/include/sophus/so3.hpp: In member function ‘Eigen::Map<Sophus::SO3Group<_Scalar>, _Options>& Eigen::Map<Sophus::SO3Group<_Scalar>, _Options>::operator=(const Eigen::Map<Sophus::SO3Group<_Scalar>, _Options>&)’:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:757:7: error: ‘Base’ has not been declared
Base::operator=(other);
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp: At global scope:
/usr/local/include/sophus/so3.hpp:764:56: error: template argument 2 is invalid
Map<const Sophus::SO3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/so3.hpp:764:11: error: template argument 1 is invalid
Map<const Sophus::SO3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/so3.hpp:766:7: error: ‘Base’ was not declared in this scope
Base;
^
/usr/local/include/sophus/so3.hpp:766:7: error: template argument 2 is invalid
/usr/local/include/sophus/so3.hpp:765:32: error: template argument 1 is invalid
typedef Sophus::SO3GroupBase<Map<const Sophus::SO3Group<_Scalar>, _Options>>
^
/usr/local/include/sophus/so3.hpp:776:20: error: ‘Base’ has not been declared
typedef typename Base::Transformation Transformation;
^
/usr/local/include/sophus/so3.hpp:778:20: error: ‘Base’ has not been declared
typedef typename Base::Point Point;
^
/usr/local/include/sophus/so3.hpp:780:20: error: ‘Base’ has not been declared
typedef typename Base::Tangent Tangent;
^
/usr/local/include/sophus/so3.hpp:782:20: error: ‘Base’ has not been declared
typedef typename Base::Adjoint Adjoint;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:754:11: error: ‘Base’ has not been declared
using Base::operator =;
^
In file included from /usr/local/include/sophus/se3.hpp:27:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/so3.hpp:785:9: error: ‘Base’ has not been declared
using Base::operator=;
^
/usr/local/include/sophus/so3.hpp:786:9: error: ‘Base’ has not been declared
using Base::operator;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/local/include/sophus/so3.hpp: In member function ‘Eigen::Map<const Sophus::SO3Group<_Scalar>, _Options>& Eigen::Map<const Sophus::SO3Group<_Scalar>, _Options>::operator=(const Eigen::Map<const Sophus::SO3Group<_Scalar>, _Options>&)’:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:757:7: error: ‘Base’ has not been declared
Base::operator=(other);
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp: At global scope:
/usr/local/include/sophus/se3.hpp:52:49: error: template argument 2 is invalid
struct traits<Sophus::SE3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/se3.hpp:52:23: error: template argument 1 is invalid
struct traits<Sophus::SE3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/se3.hpp:60:48: error: template argument 2 is invalid
: traits<Sophus::SE3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/se3.hpp:59:15: error: template argument 1 is invalid
struct traits<Map<Sophus::SE3Group<_Scalar>, _Options>>
^
/usr/local/include/sophus/se3.hpp:68:54: error: template argument 2 is invalid
: traits<const Sophus::SE3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/se3.hpp:67:15: error: template argument 1 is invalid
struct traits<Map<const Sophus::SE3Group<_Scalar>, _Options>>
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:641:64: error: template argument 2 is invalid
class SE3Group : public SE3GroupBase<SE3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/se3.hpp:641:38: error: template argument 1 is invalid
class SE3Group : public SE3GroupBase<SE3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/se3.hpp:642:53: error: ‘Base’ was not declared in this scope
typedef SE3GroupBase<SE3Group<_Scalar, _Options>> Base;
^
/usr/local/include/sophus/se3.hpp:642:53: error: template argument 2 is invalid
/usr/local/include/sophus/se3.hpp:642:24: error: template argument 1 is invalid
typedef SE3GroupBase<SE3Group<_Scalar, _Options>> Base;
^
/usr/local/include/sophus/se3.hpp:646:72: error: ‘::Scalar’ has not been declared
typedef typename Eigen::internal::traits<SE3Group<_Scalar, Options>>::Scalar
^
/usr/local/include/sophus/se3.hpp:646:72: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:647:7: error: template argument 2 is invalid
Scalar;
^
/usr/local/include/sophus/se3.hpp:646:44: error: template argument 1 is invalid
typedef typename Eigen::internal::traits<SE3Group<_Scalar, _Options>>::Scalar
^
/usr/local/include/sophus/se3.hpp:647:13: error: expected identifier before ‘;’ token
Scalar;
^
/usr/local/include/sophus/se3.hpp:650:68: error: ‘::SO3Type’ has not been declared
typename Eigen::internal::traits<SE3Group<_Scalar, _Options>>::SO3Type&
^
/usr/local/include/sophus/se3.hpp:651:11: error: ‘SO3Reference’ was not declared in this scope
SO3Reference;
^
/usr/local/include/sophus/se3.hpp:651:11: error: template argument 2 is invalid
/usr/local/include/sophus/se3.hpp:650:40: error: template argument 1 is invalid
typename Eigen::internal::traits<SE3Group<_Scalar, _Options>>::SO3Type&
^
/usr/local/include/sophus/se3.hpp:651:23: error: expected identifier before ‘;’ token
SO3Reference;
^
/usr/local/include/sophus/se3.hpp:654:35: error: ‘::SO3Type’ has not been declared
SE3Group<_Scalar, _Options>>::SO3Type& ConstSO3Reference;
^
/usr/local/include/sophus/se3.hpp:654:46: error: ‘ConstSO3Reference’ was not declared in this scope
SE3Group<_Scalar, _Options>>::SO3Type& ConstSO3Reference;
^
/usr/local/include/sophus/se3.hpp:654:46: error: template argument 2 is invalid
/usr/local/include/sophus/se3.hpp:654:7: error: template argument 1 is invalid
SE3Group<_Scalar, _Options>>::SO3Type& ConstSO3Reference;
^
/usr/local/include/sophus/se3.hpp:654:63: error: expected identifier before ‘;’ token
SE3Group<_Scalar, _Options>>::SO3Type& ConstSO3Reference;
^
/usr/local/include/sophus/se3.hpp:654:63: error: qualifiers can only be specified for objects and functions
/usr/local/include/sophus/se3.hpp:657:35: error: ‘::TranslationType’ has not been declared
SE3Group<_Scalar, _Options>>::TranslationType& TranslationReference;
^
/usr/local/include/sophus/se3.hpp:657:54: error: ‘TranslationReference’ was not declared in this scope
SE3Group<_Scalar, _Options>>::TranslationType& TranslationReference;
^
/usr/local/include/sophus/se3.hpp:657:54: error: template argument 2 is invalid
/usr/local/include/sophus/se3.hpp:657:7: error: template argument 1 is invalid
SE3Group<_Scalar, _Options>>::TranslationType& TranslationReference;
^
/usr/local/include/sophus/se3.hpp:657:74: error: expected identifier before ‘;’ token
SE3Group<_Scalar, _Options>>::TranslationType& TranslationReference;
^
/usr/local/include/sophus/se3.hpp:660:35: error: ‘::TranslationType’ has not been declared
SE3Group<_Scalar, _Options>>::TranslationType& ConstTranslationReference;
^
/usr/local/include/sophus/se3.hpp:660:54: error: ‘ConstTranslationReference’ was not declared in this scope
SE3Group<_Scalar, _Options>>::TranslationType& ConstTranslationReference;
^
/usr/local/include/sophus/se3.hpp:660:54: error: template argument 2 is invalid
/usr/local/include/sophus/se3.hpp:660:7: error: template argument 1 is invalid
SE3Group<_Scalar, _Options>>::TranslationType& ConstTranslationReference;
^
/usr/local/include/sophus/se3.hpp:660:79: error: expected identifier before ‘;’ token
SE3Group<Scalar, Options>>::TranslationType& ConstTranslationReference;
^
/usr/local/include/sophus/se3.hpp:660:79: error: qualifiers can only be specified for objects and functions
/usr/local/include/sophus/se3.hpp:663:20: error: ‘Base’ has not been declared
typedef typename Base::Transformation Transformation;
^
/usr/local/include/sophus/se3.hpp:665:20: error: ‘Base’ has not been declared
typedef typename Base::Point Point;
^
/usr/local/include/sophus/se3.hpp:667:20: error: ‘Base’ has not been declared
typedef typename Base::Tangent Tangent;
^
/usr/local/include/sophus/se3.hpp:669:20: error: ‘Base’ has not been declared
typedef typename Base::Adjoint Adjoint;
^
/usr/local/include/sophus/se3.hpp:701:32: error: ‘Scalar’ was not declared in this scope
SE3Group(const Eigen::Matrix<Scalar, 3, 3>& rotation_matrix,
^
/usr/local/include/sophus/se3.hpp:701:32: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:701:44: error: template argument 1 is invalid
SE3Group(const Eigen::Matrix<Scalar, 3, 3>& rotation_matrix,
^
/usr/local/include/sophus/se3.hpp:710:48: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC SE3Group(const Eigen::Quaternion& quaternion,
^
/usr/local/include/sophus/se3.hpp:710:48: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:710:54: error: template argument 1 is invalid
SOPHUS_FUNC SE3Group(const Eigen::Quaternion& quaternion,
^
/usr/local/include/sophus/se3.hpp:710:15: error: ‘Sophus::SE3Group<_Scalar, _Options>::SE3Group(const int&, const Point&)’ cannot be overloaded
SOPHUS_FUNC SE3Group(const Eigen::Quaternion& quaternion,
^
/usr/local/include/sophus/se3.hpp:701:3: error: with ‘Sophus::SE3Group<Scalar, Options>::SE3Group(const int&, const Point&)’
SE3Group(const Eigen::Matrix<Scalar, 3, 3>& rotation_matrix,
^
/usr/local/include/sophus/se3.hpp:719:53: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC explicit SE3Group(const Eigen::Matrix<Scalar, 4, 4>& T)
^
/usr/local/include/sophus/se3.hpp:719:53: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:719:65: error: template argument 1 is invalid
SOPHUS_FUNC explicit SE3Group(const Eigen::Matrix<Scalar, 4, 4>& T)
^
/usr/local/include/sophus/se3.hpp:729:30: error: ‘Scalar’ was not declared in this scope
const Eigen::Transform<Scalar, 3, Eigen::Affine>& affine3)
^
/usr/local/include/sophus/se3.hpp:729:30: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:729:54: error: template argument 1 is invalid
const Eigen::Transform<Scalar, 3, Eigen::Affine>& affine3)
^
/usr/local/include/sophus/se3.hpp:728:24: error: ‘Sophus::SE3Group<_Scalar, _Options>::SE3Group(const int&)’ cannot be overloaded
SOPHUS_FUNC explicit SE3Group(
^
/usr/local/include/sophus/se3.hpp:719:24: error: with ‘Sophus::SE3Group<_Scalar, _Options>::SE3Group(const int&)’
SOPHUS_FUNC explicit SE3Group(const Eigen::Matrix<Scalar, 4, 4>& T)
^
/usr/local/include/sophus/se3.hpp:746:15: error: ‘Scalar’ does not name a type
SOPHUS_FUNC Scalar data() {
^
/usr/local/include/sophus/se3.hpp:756:21: error: ‘Scalar’ does not name a type
SOPHUS_FUNC const Scalar data() const {
^
/usr/local/include/sophus/se3.hpp:764:15: error: ‘SO3Reference’ does not name a type
SOPHUS_FUNC SO3Reference so3() { return so3_; }
^
/usr/local/include/sophus/se3.hpp:769:15: error: ‘ConstSO3Reference’ does not name a type
SOPHUS_FUNC ConstSO3Reference so3() const { return so3_; }
^
/usr/local/include/sophus/se3.hpp:774:15: error: ‘TranslationReference’ does not name a type
SOPHUS_FUNC TranslationReference translation() { return translation_; }
^
/usr/local/include/sophus/se3.hpp:779:15: error: ‘ConstTranslationReference’ does not name a type
SOPHUS_FUNC ConstTranslationReference translation() const {
^
/usr/local/include/sophus/se3.hpp:784:20: error: ‘Scalar’ was not declared in this scope
Sophus::SO3Group so3_;
^
/usr/local/include/sophus/se3.hpp:784:20: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:784:26: error: template argument 1 is invalid
Sophus::SO3Group so3_;
^
/usr/local/include/sophus/se3.hpp:785:17: error: ‘Scalar’ was not declared in this scope
Eigen::Matrix<Scalar, 3, 1> translation_;
^
/usr/local/include/sophus/se3.hpp:785:17: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar_ Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:785:29: error: template argument 1 is invalid
Eigen::Matrix<Scalar, 3, 1> translation_;
^
/usr/local/include/sophus/se3.hpp: In constructor ‘Sophus::SE3Group<Scalar, Options>::SE3Group()’:
/usr/local/include/sophus/se3.hpp:678:55: error: ‘Scalar’ was not declared in this scope
SOPHUS_FUNC SE3Group() : translation(Eigen::Matrix<Scalar, 3, 1>::Zero()) {}
^
/usr/local/include/sophus/se3.hpp:678:55: note: suggested alternative:
In file included from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:58:0,
from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:24,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/types.hpp:597:25: note: ‘cv::Scalar’
typedef Scalar Scalar;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:678:67: error: template argument 1 is invalid
SOPHUS_FUNC SE3Group() : translation_(Eigen::Matrix<Scalar, 3, 1>::Zero()) {}
^
/usr/local/include/sophus/se3.hpp: In constructor ‘Sophus::SE3Group<Scalar, Options>::SE3Group(const int&)’:
/usr/local/include/sophus/se3.hpp:730:22: error: request for member ‘matrix’ in ‘affine3’, which is of non-class type ‘const int’
: so3(affine3.matrix().template topLeftCorner<3, 3>()),
^
/usr/local/include/sophus/se3.hpp:731:30: error: request for member ‘matrix’ in ‘affine3’, which is of non-class type ‘const int’
translation(affine3.matrix().template block<3, 1>(0, 3)) {}
^
/usr/local/include/sophus/se3.hpp: At global scope:
/usr/local/include/sophus/se3.hpp:799:74: error: template argument 2 is invalid
: public Sophus::SE3GroupBase<Map<Sophus::SE3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/se3.hpp:799:35: error: template argument 1 is invalid
: public Sophus::SE3GroupBase<Map<Sophus::SE3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/se3.hpp:800:74: error: ‘Base’ was not declared in this scope
typedef Sophus::SE3GroupBase<Map<Sophus::SE3Group<_Scalar>, _Options>> Base;
^
/usr/local/include/sophus/se3.hpp:800:74: error: template argument 2 is invalid
/usr/local/include/sophus/se3.hpp:800:32: error: template argument 1 is invalid
typedef Sophus::SE3GroupBase<Map<Sophus::SE3Group<_Scalar>, _Options>> Base;
^
/usr/local/include/sophus/se3.hpp:818:20: error: ‘Base’ has not been declared
typedef typename Base::Transformation Transformation;
^
/usr/local/include/sophus/se3.hpp:820:20: error: ‘Base’ has not been declared
typedef typename Base::Point Point;
^
/usr/local/include/sophus/se3.hpp:822:20: error: ‘Base’ has not been declared
typedef typename Base::Tangent Tangent;
^
/usr/local/include/sophus/se3.hpp:824:20: error: ‘Base’ has not been declared
typedef typename Base::Adjoint Adjoint;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:754:11: error: ‘Base’ has not been declared
using Base::operator =;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:827:9: error: ‘Base’ has not been declared
using Base::operator=;
^
/usr/local/include/sophus/se3.hpp:828:9: error: ‘Base’ has not been declared
using Base::operator;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/local/include/sophus/se3.hpp: In member function ‘Eigen::Map<Sophus::SE3Group<_Scalar>, _Options>& Eigen::Map<Sophus::SE3Group<_Scalar>, _Options>::operator=(const Eigen::Map<Sophus::SE3Group<_Scalar>, _Options>&)’:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:757:7: error: ‘Base’ has not been declared
Base::operator=(other);
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp: At global scope:
/usr/local/include/sophus/se3.hpp:870:56: error: template argument 2 is invalid
Map<const Sophus::SE3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/se3.hpp:870:11: error: template argument 1 is invalid
Map<const Sophus::SE3Group<_Scalar>, _Options>> {
^
/usr/local/include/sophus/se3.hpp:872:7: error: ‘Base’ was not declared in this scope
Base;
^
/usr/local/include/sophus/se3.hpp:872:7: error: template argument 2 is invalid
/usr/local/include/sophus/se3.hpp:871:32: error: template argument 1 is invalid
typedef Sophus::SE3GroupBase<Map<const Sophus::SE3Group<_Scalar>, _Options>>
^
/usr/local/include/sophus/se3.hpp:885:20: error: ‘Base’ has not been declared
typedef typename Base::Transformation Transformation;
^
/usr/local/include/sophus/se3.hpp:887:20: error: ‘Base’ has not been declared
typedef typename Base::Point Point;
^
/usr/local/include/sophus/se3.hpp:889:20: error: ‘Base’ has not been declared
typedef typename Base::Tangent Tangent;
^
/usr/local/include/sophus/se3.hpp:891:20: error: ‘Base’ has not been declared
typedef typename Base::Adjoint Adjoint;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:754:11: error: ‘Base’ has not been declared
using Base::operator =;
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:894:9: error: ‘Base’ has not been declared
using Base::operator*=;
^
/usr/local/include/sophus/se3.hpp:895:9: error: ‘Base’ has not been declared
using Base::operator*;
^
In file included from /usr/include/eigen3/Eigen/Core:62:0,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/include/dvo/dense_tracking.h:25,
from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:23:
/usr/local/include/sophus/se3.hpp: In member function ‘Eigen::Map<const Sophus::SE3Group<_Scalar>, _Options>& Eigen::Map<const Sophus::SE3Group<_Scalar>, _Options>::operator=(const Eigen::Map<const Sophus::SE3Group<_Scalar>, _Options>&)’:
/usr/include/eigen3/Eigen/src/Core/util/Macros.h:757:7: error: ‘Base’ has not been declared
Base::operator=(other);
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp: In member function ‘bool dvo::DenseTracker::match(dvo::core::PointSelection&, dvo::core::RgbdImagePyramid&, dvo::DenseTracker::Result&)’:
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:147:89: error: no matching function for call to ‘Sophus::SE3Group::SE3Group(const LinearMatrixType, Eigen::Transform<double, 3, 2>::TranslationPart)’
Sophus::SE3d inc(result.Transformation.rotation(), result.Transformation.translation());
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:719:24: note: candidate: Sophus::SE3Group<_Scalar, _Options>::SE3Group(const int&) [with _Scalar = double; int _Options = 0]
SOPHUS_FUNC explicit SE3Group(const Eigen::Matrix<Scalar, 4, 4>& T)
^
/usr/local/include/sophus/se3.hpp:719:24: note: candidate expects 1 argument, 2 provided
/usr/local/include/sophus/se3.hpp:701:3: note: candidate: Sophus::SE3Group<_Scalar, _Options>::SE3Group(const int&, const Point&) [with _Scalar = double; int _Options = 0; Sophus::SE3Group<_Scalar, _Options>::Point = int]
SE3Group(const Eigen::Matrix<Scalar, 3, 3>& rotation_matrix,
^
/usr/local/include/sophus/se3.hpp:701:3: note: no known conversion for argument 1 from ‘const LinearMatrixType {aka const Eigen::Matrix<double, 3, 3>}’ to ‘const int&’
/usr/local/include/sophus/se3.hpp:691:15: note: candidate: template Sophus::SE3Group<_Scalar, _Options>::SE3Group(const Sophus::SO3GroupBase&, const Point&)
SOPHUS_FUNC SE3Group(const SO3GroupBase& so3,
^
/usr/local/include/sophus/se3.hpp:691:15: note: template argument deduction/substitution failed:
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:147:89: note: ‘const LinearMatrixType {aka const Eigen::Matrix<double, 3, 3>}’ is not derived from ‘const Sophus::SO3GroupBase’
Sophus::SE3d inc(result.Transformation.rotation(), result.Transformation.translation());
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:684:15: note: candidate: template Sophus::SE3Group<_Scalar, _Options>::SE3Group(const Sophus::SE3GroupBase&)
SOPHUS_FUNC SE3Group(const SE3GroupBase& other)
^
/usr/local/include/sophus/se3.hpp:684:15: note: template argument deduction/substitution failed:
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:147:89: note: ‘const LinearMatrixType {aka const Eigen::Matrix<double, 3, 3>}’ is not derived from ‘const Sophus::SE3GroupBase’
Sophus::SE3d inc(result.Transformation.rotation(), result.Transformation.translation());
^
In file included from /home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:0:
/usr/local/include/sophus/se3.hpp:678:15: note: candidate: Sophus::SE3Group<_Scalar, _Options>::SE3Group() [with _Scalar = double; int Options = 0]
SOPHUS_FUNC SE3Group() : translation(Eigen::Matrix<Scalar, 3, 1>::Zero()) {}
^
/usr/local/include/sophus/se3.hpp:678:15: note: candidate expects 0 arguments, 2 provided
/usr/local/include/sophus/se3.hpp:641:7: note: candidate: Sophus::SE3Group::SE3Group(const Sophus::SE3Group&)
class SE3Group : public SE3GroupBase<SE3Group<_Scalar, _Options>> {
^
/usr/local/include/sophus/se3.hpp:641:7: note: candidate expects 1 argument, 2 provided
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:238:13: error: ‘Sophus::SE3d {aka class Sophus::SE3Group}’ has no member named ‘log’
x = inc.log();
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:259:15: error: ‘exp’ is not a member of ‘Sophus::SE3d {aka Sophus::SE3Group}’
inc = Sophus::SE3d::exp(x);
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:260:32: error: ‘Sophus::SE3d {aka class Sophus::SE3Group}’ has no member named ‘inverse’
initial.update() = inc.inverse() * initial();
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:261:33: error: no match for ‘operator*’ (operand types are ‘Sophus::SE3d {aka Sophus::SE3Group}’ and ‘const Sophus::SE3Group’)
estimate.update() = inc * estimate();
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:263:33: error: ‘const class Sophus::SE3Group’ has no member named ‘matrix’
transformf = estimate().matrix().cast();
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:263:47: error: expected primary-expression before ‘float’
transformf = estimate().matrix().cast();
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:302:65: error: ‘const class Sophus::SE3Group’ has no member named ‘log’
iteration_stats.PriorLogLikelihood = cfg.Mu * initial().log().squaredNorm();
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:346:52: error: ‘const class Sophus::SE3Group’ has no member named ‘log’
b = ls.b.cast() + cfg.Mu * initial().log();
^
/home/sicong/catkin_ws/src/dvo_slam/src/dvo_core/src/dense_tracking.cpp:371:38: error: ‘const class Sophus::SE3Group’ has no member named ‘inverse’
result.Transformation = estimate().inverse().matrix();
^
dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/build.make:326: recipe for target 'dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o' failed
make[2]: *** [dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:363: recipe for target 'dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/all' failed
make[1]: *** [dvo_slam/src/dvo_core/CMakeFiles/dvo_core.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Could you help me to fix it ? thank you!

Ubuntu 14.04 + ROS indigo compilation

Remove SOPHUS_LIBRARIES in FindSophus.cmake, and add FindEigen3.cmake to the dvo_core/cmake_modules file, then the project works on my ubuntu14.04 + ROS indigo.
Great thanks!