ROS build fails

[smileyenot983]

Hi everyone, i cannot manage with building ORB slam 3 for ROS. Building orb slam 3 was successful

I have following errors:

/home/ramil/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:405:53: error: no matching function for call to ‘std::vectorcv::Mat::push_back(Eigen::Vector3f)’ vPoints.push_back(pMP->GetWorldPos());

/usr/include/c++/7/bits/stl_vector.h:953:7: note: no known conversion for argument 1 from ‘Eigen::Vector3f {aka Eigen::Matrix<float, 3, 1>}’ to ‘std::vectorcv::Mat::value_type&& {aka cv::Mat&&}’ /home/ramil/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc: In member function ‘void ORB_SLAM3::Plane::Recompute()’: /home/ramil/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:530:42: error: conversion from ‘Eigen::Vector3f {aka Eigen::Matrix<float, 3, 1>}’ to non-scalar type ‘cv::Mat’ requested cv::Mat Xw = pMP->GetWorldPos();

/home/ramil/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc: In member function ‘void ImageGrabber::GrabImage(const ImageConstPtr&)’: /home/ramil/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc:151:41: error: conversion from ‘Sophus::SE3f {aka Sophus::SE3}’ to non-scalar type ‘cv::Mat’ requested cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());

And at the end i have this: [ 92%] Linking CXX executable ../Stereo /usr/bin/ld: warning: libopencv_highgui.so.405, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_highgui.so.3.2 /usr/bin/ld: warning: libopencv_features2d.so.405, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_features2d.so.3.2 /usr/bin/ld: warning: libopencv_imgproc.so.405, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_imgproc.so.3.2 /usr/bin/ld: warning: libopencv_core.so.405, needed by ../../../../lib/libORB_SLAM3.so, may conflict with libopencv_core.so.3.2 [ 92%] Built target Stereo Makefile:129: recipe for target 'all' failed make: *** [all] Error 2

[nindanaoto]

This is the fixed fork. https://github.com/nindanaoto/ORB_SLAM3

[robin-shaun]

@nindanaoto Hello, which eigen version is in your computer? My eigen version is 3.4.0, and I met a series of errors like this /usr/include/eigen3/unsupported/Eigen/CXX11/src/util/EmulateArray.h:258:30: error: redeclared with 1 template parameter template <typename T> struct array_size;

[JXFOnestep]

@nindanaoto Hello, which eigen version is in your computer? My eigen version is 3.4.0, and I met a series of errors like this /usr/include/eigen3/unsupported/Eigen/CXX11/src/util/EmulateArray.h:258:30: error: redeclared with 1 template parameter template <typename T> struct array_size;

I met the same question,my eigen version is 3.2.1, have you fix it?

[AiYoWeiYL]

@nindanaoto Hello, which eigen version is in your computer? My eigen version is 3.4.0, and I met a series of errors like this /usr/include/eigen3/unsupported/Eigen/CXX11/src/util/EmulateArray.h:258:30: error: redeclared with 1 template parameter template <typename T> struct array_size;

I met the same question,my eigen version is 3.2.1, have you fix it?

Hi, have you solved this problem？ I met the same problem

[nindanaoto]

Oh, I did not notice there are a lot of people encountering same problem. I'm using 3.3.7-2, default version of official Ubuntu 20.04's repository. I wrote the instruction to use ORB SLAM3 with OAK-D on LXD. This may help you to solve this issue. https://qiita.com/nindanaoto/items/20858eca08aad90b5bab

[AiYoWeiYL]

I'll give it a try. Thank you

[kenhuang1964]

Hey @nindanaoto, do you know if ORB-SLAM3 works with OAK-D Pro?

[nindanaoto]

Hi, I already noticed this message and still couldn't find the time to reproduce the result in the current environments. As far as I remember, ORB-SLAM3 can work with OKA-D Pro for stereo settings but not RGBD. I hope to retry the RGBD setting with the current software environments.....

[kenhuang1964]

Hi, I already noticed this message and still couldn't find the time to reproduce the result in the current environments. As far as I remember, ORB-SLAM3 can work with OKA-D Pro for stereo settings but not RGBD. I hope to retry the RGBD setting with the current software environments.....

Cool, thanks!