rosmake dvo_slam error! about dvo_slam

[HuixWang]

I met the similar problem using ROS Fuerte. And I solved it by adding these system dependencies:
sudo apt-get install ros-fuerte-libg2o liblapack-dev libblas-dev freeglut3-dev libqglviewer-qt4-dev libsuitesparse-dev libx11-dev

Hope it will be helpful.

[christiankerl]

I think this a problem with the g2o version see #12 for a solution

[oklyf]

thank you very much for your help.i have tried to add GIT_REVISION=67d5fa7 to the g2o makefile,then i run "rosmake dvo_slam",there were still some errors:

[ rosmake ] Last 40 lineso_slam: 26.8 sec ] [ 1 Active 74/75 Complete ]
{-------------------------------------------------------------------------------
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/block_solver.hpp:198:5: error: request for member ‘resize’ in ‘schurMatrixLookup->g2o::SparseBlockMatrixHashMap::blockCols with MatrixType = Eigen::Matrix<double, 6, 6>’, which is of non-class type ‘int’
In file included from /home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.h:228:0,
from /home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_optimizer.h:33,
from /home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/include/dvo_slam/local_map.h:24,
from /home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/include/dvo_slam/keyframe_graph.h:25,
from /home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/src/keyframe_graph.cpp:21:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp: In member function ‘void g2o::SparseBlockMatrix::takePatternFromHash(g2o::SparseBlockMatrixHashMap&) [with MatrixType = Eigen::Matrix<double, 6, 6>]’:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/block_solver.hpp:287:3: instantiated from ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/src/keyframe_graph.cpp:942:1: instantiated from here
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:631:73: error: no type named ‘SparseColumn’ in ‘class g2o::SparseBlockMatrixHashMap<Eigen::Matrix<double, 6, 6> >’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:632:21: error: request for member ‘size’ in ‘(& hashMatrix)->g2o::SparseBlockMatrixHashMap::blockCols with MatrixType = Eigen::Matrix<double, 6, 6>’, which is of non-class type ‘int’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/block_solver.hpp:287:3: instantiated from ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/src/keyframe_graph.cpp:942:1: instantiated from here
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:644:7: error: ‘swap’ was not declared in this scope
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:644:7: note: suggested alternatives:
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/boost/detail/compressed_pair.hpp:431:1: note: ‘boost::swap’
/usr/include/boost/thread/locks.hpp:1103:14: note: ‘boost::detail::swap’
/usr/include/boost/variant/detail/backup_holder.hpp:86:6: note: ‘boost::detail::variant::swap’
/usr/include/boost/signals2/connection.hpp:239:17: note: ‘boost::signals2::swap’
/usr/include/boost/signals2/detail/auto_buffer.hpp:1080:17: note: ‘boost::signals2::detail::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/move.h:122:5: note: ‘std::swap’
/opt/ros/hydro/include/opencv2/core/core.hpp:2126:17: note: ‘cv::swap’
/usr/include/tbb/concurrent_vector.h:1053:13: note: ‘tbb::swap’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h: In member function ‘MatrixType* g2o::SparseBlockMatrixHashMap::addBlock(int, int, bool) [with MatrixType = Eigen::Matrix<double, 6, 6>]’:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h:268:7: warning: control reaches end of non-void function [-Wreturn-type]
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_graph.cpp.o] Error 1
make[3]: Leaving directory /home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to:
[ rosmake ] /home/exbot/.ros/rosmake/rosmake_output-20140923-220414/dvo_slam/build_output.log
[rosmake-2] Finished <<< dvo_slam [FAIL] [ 26.89 seconds ]
[ rosmake ] Halting due to failure in package dvo_slam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 75 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/exbot/.ros/rosmake/rosmake_output-20140923-220414

[LiliMeng]

I have the same problem with Ubuntu12.04 and fuerte...

make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_graph.o] Error 1
make[3]: Leaving directory /home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_slam/build'

[lidangzzz]

Thanks for HuixWang. Your solution works.