Posted by
ferrangg on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Orbslam2-with-rtabmap-in-ubuntu-20-and-ros-noetic-tp9034.html
Hello,
I am using rtabmap ros with some modifications on ubuntu 20 and ros noetic. I would like to try the ORBSLAM2 odometry, but ORBSLAM 2 does not buld well with opencv 4. I am using this modifications (
https://github.com/raulmur/ORB_SLAM2/pull/790/files) and ORBSLAM2 is building ok in ubuntu 20 with opencv 4. Then, when I build rtabmap with -DWITH_G2O=OFF -DWITH_ORB_SLAM=ON and previously setting the environment variable ORB_SLAM_ROOT_DIR to the ORBSLAM source code, I am getting the following error. Is it something that can be fixed? Or maybe there is another way to use ORBSLAM2 odometry with rtabmap in ubuntu 20?
Many thanks,
Ferran
#27 403.9 [ 28%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryORBSLAM.cpp.o
#27 407.6 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
#27 407.6 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.6 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.6 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.6 from /ORB_SLAM2/include/System.h:29,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.6 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:74: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.6 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 407.6 | ^~~~~~~~~~
#27 407.6 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.6 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.6 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.6 | ^~~~~~~~~~
#27 407.6 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 407.6 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.6 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.6 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.6 from /ORB_SLAM2/include/System.h:29,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.6 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.6 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 407.6 | ^~~~~~~~~~
#27 407.6 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.6 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.6 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.6 | ^~~~~~~~~~
#27 407.6 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 407.6 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.6 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.6 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.6 from /ORB_SLAM2/include/System.h:29,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.6 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:82: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.6 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
#27 407.6 | ^~~~~~~~~~
#27 407.6 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.6 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.6 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.6 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.6 | ^~~~~~~~~~
#27 407.8 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
#27 407.8 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.8 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.8 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.8 from /ORB_SLAM2/include/System.h:29,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<3, Eigen::Matrix<double, 3, 1> >’:
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_sba.h:40:35: required from here
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.8 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 407.8 | ~~~~~~^~~~~~~~~~~~
#27 407.8 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.8 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.8 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.8 | ^~~~~~~~~~
#27 407.8 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
#27 407.8 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.8 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.8 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.8 from /ORB_SLAM2/include/System.h:29,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<6, g2o::SE3Quat>’:
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:59:33: required from here
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.8 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 407.8 | ~~~~~~^~~~~~~~~~~~
#27 407.8 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.8 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.8 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.8 | ^~~~~~~~~~
#27 407.8 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 407.8 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.8 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.8 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.8 from /ORB_SLAM2/include/System.h:29,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:80:35: required from here
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.8 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 407.8 | ~~~~~~^~~~~~~~~~~~
#27 407.8 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.8 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.8 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.8 | ^~~~~~~~~~
#27 407.8 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 407.8 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.8 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.8 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.8 from /ORB_SLAM2/include/System.h:29,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.8 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.8 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
#27 407.8 | ~~~~~~^~~~~~~~~~~~
#27 407.8 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.8 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.8 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.8 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.8 | ^~~~~~~~~~
#27 407.9 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 407.9 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.9 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.9 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.9 from /ORB_SLAM2/include/System.h:29,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.9 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<3, Eigen::Matrix<double, 3, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSE3Expmap>’:
#27 407.9 /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:112:41: required from here
#27 407.9 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.9 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 407.9 | ~~~~~~^~~~~~~~~~~~
#27 407.9 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.9 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.9 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.9 | ^~~~~~~~~~
#27 407.9 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 407.9 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 407.9 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 407.9 from /ORB_SLAM2/include/Tracking.h:32,
#27 407.9 from /ORB_SLAM2/include/System.h:29,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 407.9 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 407.9 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
#27 407.9 | ~~~~~~^~~~~~~~~~~~
#27 407.9 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 407.9 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 407.9 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 407.9 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 407.9 | ^~~~~~~~~~
#27 408.0 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
#27 408.0 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 408.0 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 408.0 from /ORB_SLAM2/include/Tracking.h:32,
#27 408.0 from /ORB_SLAM2/include/System.h:29,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h: In instantiation of ‘class g2o::BaseVertex<7, g2o::Sim3>’:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:48:35: required from here
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_vertex.h:62:72: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 408.0 62 | typedef Eigen::Map<Matrix<double, D, D>, Matrix<double,D,D>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 408.0 | ~~~~~~^~~~~~~~~~~~
#27 408.0 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 408.0 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 408.0 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 408.0 | ^~~~~~~~~~
#27 408.0 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 408.0 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 408.0 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 408.0 from /ORB_SLAM2/include/Tracking.h:32,
#27 408.0 from /ORB_SLAM2/include/System.h:29,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<7, g2o::Sim3, g2o::VertexSim3Expmap, g2o::VertexSim3Expmap>’:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:99:27: required from here
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 408.0 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 408.0 | ~~~~~~^~~~~~~~~~~~
#27 408.0 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 408.0 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 408.0 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 408.0 | ^~~~~~~~~~
#27 408.0 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 408.0 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 408.0 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 408.0 from /ORB_SLAM2/include/Tracking.h:32,
#27 408.0 from /ORB_SLAM2/include/System.h:29,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 408.0 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
#27 408.0 | ~~~~~~^~~~~~~~~~~~
#27 408.0 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 408.0 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 408.0 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 408.0 | ^~~~~~~~~~
#27 408.0 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 408.0 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 408.0 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 408.0 from /ORB_SLAM2/include/Tracking.h:32,
#27 408.0 from /ORB_SLAM2/include/System.h:29,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h: In instantiation of ‘class g2o::BaseBinaryEdge<2, Eigen::Matrix<double, 2, 1>, g2o::VertexSBAPointXYZ, g2o::VertexSim3Expmap>’:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:130:36: required from here
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:59:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 408.0 59 | typedef Eigen::Map<Matrix<double, Di, Dj>, Matrix<double, Di, Dj>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockType;
#27 408.0 | ~~~~~~^~~~~~~~~~~~
#27 408.0 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 408.0 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 408.0 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 408.0 | ^~~~~~~~~~
#27 408.0 In file included from /ORB_SLAM2/Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:35,
#27 408.0 from /ORB_SLAM2/include/LoopClosing.h:41,
#27 408.0 from /ORB_SLAM2/include/LocalMapping.h:30,
#27 408.0 from /ORB_SLAM2/include/Tracking.h:32,
#27 408.0 from /ORB_SLAM2/include/System.h:29,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 408.0 /ORB_SLAM2/Thirdparty/g2o/g2o/types/../core/base_binary_edge.h:60:80: warning: ‘Eigen::AlignedBit’ is deprecated [-Wdeprecated-declarations]
#27 408.0 60 | typedef Eigen::Map<Matrix<double, Dj, Di>, Matrix<double, Dj, Di>::Flags & AlignedBit ? Aligned : Unaligned > HessianBlockTransposedType;
#27 408.0 | ~~~~~~^~~~~~~~~~~~
#27 408.0 In file included from /usr/include/eigen3/Eigen/Core:363,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/Transform.h:35,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/../include/rtabmap/core/OdometryInfo.h:32,
#27 408.0 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:28:
#27 408.0 /usr/include/eigen3/Eigen/src/Core/util/Constants.h:162:37: note: declared here
#27 408.0 162 | EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
#27 408.0 | ^~~~~~~~~~
#27 408.1 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp: In member function ‘void ORB_SLAM2::Tracker::Track()’:
#27 408.1 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:365:10: error: ‘mlRelativeFramePoses’ was not declared in this scope
#27 408.1 365 | mlRelativeFramePoses.push_back(Tcr);
#27 408.1 | ^~~~~~~~~~~~~~~~~~~~
#27 408.1 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:366:10: error: ‘mlpReferences’ was not declared in this scope; did you mean ‘mpReferenceKF’?
#27 408.1 366 | mlpReferences.push_back(mpReferenceKF);
#27 408.1 | ^~~~~~~~~~~~~
#27 408.1 | mpReferenceKF
#27 408.1 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:367:10: error: ‘mlFrameTimes’ was not declared in this scope
#27 408.1 367 | mlFrameTimes.push_back(mCurrentFrame.mTimeStamp);
#27 408.1 | ^~~~~~~~~~~~
#27 408.1 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:368:10: error: ‘mlbLost’ was not declared in this scope; did you mean ‘boost’?
#27 408.1 368 | mlbLost.push_back(mState==LOST);
#27 408.1 | ^~~~~~~
#27 408.1 | boost
#27 408.2 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:373:10: error: ‘mlRelativeFramePoses’ was not declared in this scope
#27 408.2 373 | mlRelativeFramePoses.push_back(mlRelativeFramePoses.back());
#27 408.2 | ^~~~~~~~~~~~~~~~~~~~
#27 408.2 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:374:10: error: ‘mlpReferences’ was not declared in this scope; did you mean ‘mpReferenceKF’?
#27 408.2 374 | mlpReferences.push_back(mlpReferences.back());
#27 408.2 | ^~~~~~~~~~~~~
#27 408.2 | mpReferenceKF
#27 408.2 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:375:10: error: ‘mlFrameTimes’ was not declared in this scope
#27 408.2 375 | mlFrameTimes.push_back(mlFrameTimes.back());
#27 408.2 | ^~~~~~~~~~~~
#27 408.2 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:376:10: error: ‘mlbLost’ was not declared in this scope; did you mean ‘boost’?
#27 408.2 376 | mlbLost.push_back(mState==LOST);
#27 408.2 | ^~~~~~~
#27 408.2 | boost
#27 408.2 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp: In member function ‘bool ORBSLAMSystem::init(const rtabmap::CameraModel&, bool, double, const rtabmap::Transform&)’:
#27 408.2 /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:818:24: error: no matching function for call to ‘ORB_SLAM2::Tracker::Reset(bool)’
#27 408.2 818 | mpTracker->Reset(true);
#27 408.2 | ^
#27 408.2 In file included from /ORB_SLAM2/include/System.h:29,
#27 408.2 from /2020-1137-MARLOC-CONV-ICON/rtabmap/corelib/src/odometry/OdometryORBSLAM.cpp:40:
#27 408.2 /ORB_SLAM2/include/Tracking.h:121:10: note: candidate: ‘void ORB_SLAM2::Tracking::Reset()’
#27 408.2 121 | void Reset();
#27 408.2 | ^~~~~
#27 408.2 /ORB_SLAM2/include/Tracking.h:121:10: note: candidate expects 0 arguments, 1 provided
#27 412.7 make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1054: corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryORBSLAM.cpp.o] Error 1
#27 412.7 make[1]: *** [CMakeFiles/Makefile2:936: corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2
#27 412.7 make: *** [Makefile:152: all] Error 2