Error compiling with OpenCV (xfeatures2d.h)

Posted by Constantine on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-compiling-with-OpenCV-xfeatures2d-h-tp508.html

Hi,

I'm having trouble recompiling rtabmap_ros due to an OpenCV library error. I had rtabmap_ros working previously, but I had to install the libfreenect2 drivers for another project (which required recompiling OpenCV 3.0 and installing beignet for OpenCL). I have OpenCV 3.0 installed in /opt/ and the paths are exported through .bashrc. Although now, I'm having compile errors when I run catkin_make. Commenting out the opencv .bashrc exports doesn't seem to change anything.

[ 75%] Built target camera
[ 76%] Building CXX object rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o
In file included from /home/supdood/catkin_ws/devel/lib/rtabmap-0.9/../../include/rtabmap-0.9/rtabmap/core/Memory.h:37:0,
                 from /home/supdood/catkin_ws/src/rtabmap_ros/src/OdometryROS.cpp:41:
/home/supdood/catkin_ws/devel/lib/rtabmap-0.9/../../include/rtabmap-0.9/rtabmap/core/Features2d.h:235:2: error: ‘BriefDescriptorExtractor’ in namespace ‘cv’ does not name a type
  cv::BriefDescriptorExtractor * _brief;
  ^
/home/supdood/catkin_ws/devel/lib/rtabmap-0.9/../../include/rtabmap-0.9/rtabmap/core/Features2d.h:257:2: error: ‘FREAK’ in namespace ‘cv’ does not name a type
  cv::FREAK * _freak;
  ^
/home/supdood/catkin_ws/devel/lib/rtabmap-0.9/../../include/rtabmap-0.9/rtabmap/core/Features2d.h:299:2: error: ‘BriefDescriptorExtractor’ in namespace ‘cv’ does not name a type
  cv::BriefDescriptorExtractor * _brief;
  ^
/home/supdood/catkin_ws/devel/lib/rtabmap-0.9/../../include/rtabmap-0.9/rtabmap/core/Features2d.h:321:2: error: ‘FREAK’ in namespace ‘cv’ does not name a type
  cv::FREAK * _freak;
  ^
make[2]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/src/OdometryROS.cpp.o] Error 1
make[1]: *** [rtabmap_ros/CMakeFiles/rtabmap_ros.dir/all] Error 2
make: *** [all] Error 2

Any help is appreciated =)