Issue :
I have compiled opencv 4.1.0 with cuda support. So want to build the ros dependent packages with custom opencv. The command after initializing catkin_init_workspace is as follows. Any kind of help will be deeply appreciated
Command :
catkin_make -DCMAKE_BUILD_TYPE=Release -DOpenCV_DIR=/opt/include/opencv4/opencv2 -DPYTHON_EXECUTABLE=/usr/bin/python3
My fixes till yet :
I fixed the initial issues by editing the cmake file to have opencv version 4.1.0 and also /home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/ORBextractor.h to have #include <opencv2/opencv.hpp> instead of #include <opencv/cv.h>
My system config :
Ubuntu 18.04
Opencv 4.1.0
gcc 7.4.0
numpy 1.16.5
catkin
Error Log :
[ 64%] Building CXX object orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/FrameDrawer.cc.o
[ 65%] Building CXX object orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/MapPoint.cc.o
In file included from /home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:34:0:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:96:15: error: ‘CvMat’ has not been declared
void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:102:34: error: ‘CvMat’ does not name a type
void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:102:56: error: ‘CvMat’ does not name a type
void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:103:34: error: ‘CvMat’ does not name a type
void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:103:56: error: ‘CvMat’ does not name a type
void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:104:34: error: ‘CvMat’ does not name a type
void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:104:56: error: ‘CvMat’ does not name a type
void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:105:17: error: ‘CvMat’ has not been declared
void qr_solve(CvMat * A, CvMat * b, CvMat * X);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:105:28: error: ‘CvMat’ has not been declared
void qr_solve(CvMat * A, CvMat * b, CvMat * X);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:105:39: error: ‘CvMat’ has not been declared
void qr_solve(CvMat * A, CvMat * b, CvMat * X);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:113:27: error: ‘CvMat’ does not name a type
void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:113:49: error: ‘CvMat’ does not name a type
void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:115:23: error: ‘CvMat’ has not been declared
double cb[4], CvMat * A, CvMat * b);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:115:34: error: ‘CvMat’ has not been declared
double cb[4], CvMat * A, CvMat * b);
^~~~~
[ 65%] Building CXX object orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/KeyFrame.cc.o
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc: In member function ‘cv::Mat ORB_SLAM2::Tracking::GrabImageStereo(const cv::Mat&, const cv::Mat&, const double&)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:171:38: error: ‘CV_RGB2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_RGB2GRAY);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:171:38: note: suggested alternative: ‘CV_RGB’
cvtColor(mImGray,mImGray,CV_RGB2GRAY);
^~~~~~~~~~~
CV_RGB
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:176:38: error: ‘CV_BGR2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_BGR2GRAY);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:184:38: error: ‘CV_RGBA2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_RGBA2GRAY);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:184:38: note: suggested alternative: ‘CV_RGB’
cvtColor(mImGray,mImGray,CV_RGBA2GRAY);
^~~~~~~~~~~~
CV_RGB
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:189:38: error: ‘CV_BGRA2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:189:38: note: suggested alternative: ‘CV_WRAP_AS’
cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
^~~~~~~~~~~~
CV_WRAP_AS
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc: In member function ‘cv::Mat ORB_SLAM2::Tracking::GrabImageRGBD(const cv::Mat&, const cv::Mat&, const double&)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:210:38: error: ‘CV_RGB2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_RGB2GRAY);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:210:38: note: suggested alternative: ‘CV_RGB’
cvtColor(mImGray,mImGray,CV_RGB2GRAY);
^~~~~~~~~~~
CV_RGB
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:212:38: error: ‘CV_BGR2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_BGR2GRAY);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:217:38: error: ‘CV_RGBA2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_RGBA2GRAY);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:217:38: note: suggested alternative: ‘CV_RGB’
cvtColor(mImGray,mImGray,CV_RGBA2GRAY);
^~~~~~~~~~~~
CV_RGB
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:219:38: error: ‘CV_BGRA2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:219:38: note: suggested alternative: ‘CV_WRAP_AS’
cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
^~~~~~~~~~~~
CV_WRAP_AS
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc: In member function ‘cv::Mat ORB_SLAM2::Tracking::GrabImageMonocular(const cv::Mat&, const double&)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:240:38: error: ‘CV_RGB2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_RGB2GRAY);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:240:38: note: suggested alternative: ‘CV_RGB’
cvtColor(mImGray,mImGray,CV_RGB2GRAY);
^~~~~~~~~~~
CV_RGB
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:242:38: error: ‘CV_BGR2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_BGR2GRAY);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:247:38: error: ‘CV_RGBA2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_RGBA2GRAY);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:247:38: note: suggested alternative: ‘CV_RGB’
cvtColor(mImGray,mImGray,CV_RGBA2GRAY);
^~~~~~~~~~~~
CV_RGB
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:249:38: error: ‘CV_BGRA2GRAY’ was not declared in this scope
cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/Tracking.cc:249:38: note: suggested alternative: ‘CV_WRAP_AS’
cvtColor(mImGray,mImGray,CV_BGRA2GRAY);
^~~~~~~~~~~~
CV_WRAP_AS
[ 65%] Linking CXX executable /home/spiri/ros_opencv_dependables/devel/lib/image_view/image_saver
[ 65%] Built target image_saver
[ 65%] Building CXX object orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/Map.cc.o
[ 67%] Building CXX object orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/Optimizer.cc.o
[ 67%] Linking CXX executable /home/spiri/ros_opencv_dependables/devel/lib/image_view/extract_images
[ 67%] Building CXX object image_pipeline/image_view/CMakeFiles/image_view.dir/src/nodelets/disparity_nodelet.cpp.o
[ 67%] Built target extract_images
[ 67%] Building CXX object image_pipeline/image_view/CMakeFiles/image_view.dir/src/nodelets/window_thread.cpp.o
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/FrameDrawer.cc: In member function ‘cv::Mat ORB_SLAM2::FrameDrawer::DrawFrame()’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/FrameDrawer.cc:75:24: error: ‘CV_GRAY2BGR’ was not declared in this scope
cvtColor(im,im,CV_GRAY2BGR);
^~~~~~~~~~~
[ 67%] Linking CXX executable /home/spiri/ros_opencv_dependables/devel/lib/image_view/image_view
[ 67%] Building CXX object orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/PnPsolver.cc.o
orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/build.make:86: recipe for target 'orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/Tracking.cc.o' failed
make[2]: *** [orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/Tracking.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 67%] Built target image_view_exe
[ 68%] Linking CXX shared library /home/spiri/ros_opencv_dependables/devel/lib/libimage_view.so
[ 68%] Built target image_view
In file included from /home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:53:0:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:96:15: error: ‘CvMat’ has not been declared
void fill_M(CvMat * M, const int row, const double * alphas, const double u, const double v);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:102:34: error: ‘CvMat’ does not name a type
void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:102:56: error: ‘CvMat’ does not name a type
void find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:103:34: error: ‘CvMat’ does not name a type
void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:103:56: error: ‘CvMat’ does not name a type
void find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:104:34: error: ‘CvMat’ does not name a type
void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:104:56: error: ‘CvMat’ does not name a type
void find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho, double * betas);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:105:17: error: ‘CvMat’ has not been declared
void qr_solve(CvMat * A, CvMat * b, CvMat * X);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:105:28: error: ‘CvMat’ has not been declared
void qr_solve(CvMat * A, CvMat * b, CvMat * X);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:105:39: error: ‘CvMat’ has not been declared
void qr_solve(CvMat * A, CvMat * b, CvMat * X);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:113:27: error: ‘CvMat’ does not name a type
void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:113:49: error: ‘CvMat’ does not name a type
void gauss_newton(const CvMat * L_6x10, const CvMat * Rho, double current_betas[4]);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:115:23: error: ‘CvMat’ has not been declared
double cb[4], CvMat * A, CvMat * b);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/include/PnPsolver.h:115:34: error: ‘CvMat’ has not been declared
double cb[4], CvMat * A, CvMat * b);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::choose_control_points()’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:388:3: error: ‘CvMat’ was not declared in this scope
CvMat * PW0 = cvCreateMat(number_of_correspondences, 3, CV_64F);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:388:11: error: ‘PW0’ was not declared in this scope
CvMat * PW0 = cvCreateMat(number_of_correspondences, 3, CV_64F);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:388:17: error: ‘cvCreateMat’ was not declared in this scope
CvMat * PW0 = cvCreateMat(number_of_correspondences, 3, CV_64F);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:391:9: error: expected ‘;’ before ‘PW0tPW0’
CvMat PW0tPW0 = cvMat(3, 3, CV_64F, pw0tpw0);
^~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:392:9: error: expected ‘;’ before ‘DC’
CvMat DC = cvMat(3, 1, CV_64F, dc);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:393:9: error: expected ‘;’ before ‘UCt’
CvMat UCt = cvMat(3, 3, CV_64F, uct);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:399:25: error: ‘PW0tPW0’ was not declared in this scope
cvMulTransposed(PW0, &PW0tPW0, 1);
^~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:399:3: error: ‘cvMulTransposed’ was not declared in this scope
cvMulTransposed(PW0, &PW0tPW0, 1);
^~~~~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:400:20: error: ‘DC’ was not declared in this scope
cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:400:25: error: ‘UCt’ was not declared in this scope
cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:400:33: error: ‘CV_SVD_MODIFY_A’ was not declared in this scope
cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:400:33: note: suggested alternative: ‘CV_HAL_SVD_MODIFY_A’
cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~~~~~~
CV_HAL_SVD_MODIFY_A
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:400:51: error: ‘CV_SVD_U_T’ was not declared in this scope
cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:400:51: note: suggested alternative: ‘CV_OUT’
cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~
CV_OUT
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:400:3: error: ‘cvSVD’ was not declared in this scope
cvSVD(&PW0tPW0, &DC, &UCt, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:402:3: error: ‘cvReleaseMat’ was not declared in this scope
cvReleaseMat(&PW0);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::compute_barycentric_coordinates()’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:414:3: error: ‘CvMat’ was not declared in this scope
CvMat CC = cvMat(3, 3, CV_64F, cc);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:415:9: error: expected ‘;’ before ‘CC_inv’
CvMat CC_inv = cvMat(3, 3, CV_64F, cc_inv);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:421:13: error: ‘CC’ was not declared in this scope
cvInvert(&CC, &CC_inv, CV_SVD);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:421:18: error: ‘CC_inv’ was not declared in this scope
cvInvert(&CC, &CC_inv, CV_SVD);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:421:18: note: suggested alternative: ‘cc_inv’
cvInvert(&CC, &CC_inv, CV_SVD);
^~~~~~
cc_inv
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:421:26: error: ‘CV_SVD’ was not declared in this scope
cvInvert(&CC, &CC_inv, CV_SVD);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:421:26: note: suggested alternative: ‘CV_AVX’
cvInvert(&CC, &CC_inv, CV_SVD);
^~~~~~
CV_AVX
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:421:3: error: ‘cvInvert’ was not declared in this scope
cvInvert(&CC, &CC_inv, CV_SVD);
^~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: At global scope:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:436:24: error: variable or field ‘fill_M’ declared void
void PnPsolver::fill_M(CvMat * M,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:436:24: error: ‘CvMat’ was not declared in this scope
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:436:32: error: ‘M’ was not declared in this scope
void PnPsolver::fill_M(CvMat * M,
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:437:5: error: expected primary-expression before ‘const’
const int row, const double * as, const double u, const double v)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:437:20: error: expected primary-expression before ‘const’
const int row, const double * as, const double u, const double v)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:437:39: error: expected primary-expression before ‘const’
const int row, const double * as, const double u, const double v)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:437:55: error: expected primary-expression before ‘const’
const int row, const double * as, const double u, const double v)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘double ORB_SLAM2::PnPsolver::compute_pose(double ()[3], double)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:482:3: error: ‘CvMat’ was not declared in this scope
CvMat * M = cvCreateMat(2 * number_of_correspondences, 12, CV_64F);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:482:11: error: ‘M’ was not declared in this scope
CvMat * M = cvCreateMat(2 * number_of_correspondences, 12, CV_64F);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:482:15: error: ‘cvCreateMat’ was not declared in this scope
CvMat * M = cvCreateMat(2 * number_of_correspondences, 12, CV_64F);
^~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:488:9: error: expected ‘;’ before ‘MtM’
CvMat MtM = cvMat(12, 12, CV_64F, mtm);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:489:9: error: expected ‘;’ before ‘D’
CvMat D = cvMat(12, 1, CV_64F, d);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:490:9: error: expected ‘;’ before ‘Ut’
CvMat Ut = cvMat(12, 12, CV_64F, ut);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:492:23: error: ‘MtM’ was not declared in this scope
cvMulTransposed(M, &MtM, 1);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:492:3: error: ‘cvMulTransposed’ was not declared in this scope
cvMulTransposed(M, &MtM, 1);
^~~~~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:16: error: ‘D’ was not declared in this scope
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:20: error: ‘Ut’ was not declared in this scope
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:20: note: suggested alternative: ‘ut’
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~
ut
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:27: error: ‘CV_SVD_MODIFY_A’ was not declared in this scope
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:27: note: suggested alternative: ‘CV_HAL_SVD_MODIFY_A’
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~~~~~~
CV_HAL_SVD_MODIFY_A
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:45: error: ‘CV_SVD_U_T’ was not declared in this scope
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:45: note: suggested alternative: ‘CV_OUT’
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~~~~~~
CV_OUT
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:493:3: error: ‘cvSVD’ was not declared in this scope
cvSVD(&MtM, &D, &Ut, 0, CV_SVD_MODIFY_A | CV_SVD_U_T);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:494:3: error: ‘cvReleaseMat’ was not declared in this scope
cvReleaseMat(&M);
^~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:497:9: error: expected ‘;’ before ‘L_6x10’
CvMat L_6x10 = cvMat(6, 10, CV_64F, l_6x10);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:498:9: error: expected ‘;’ before ‘Rho’
CvMat Rho = cvMat(6, 1, CV_64F, rho);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:506:24: error: ‘L_6x10’ was not declared in this scope
find_betas_approx_1(&L_6x10, &Rho, Betas[1]);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:506:24: note: suggested alternative: ‘l_6x10’
find_betas_approx_1(&L_6x10, &Rho, Betas[1]);
^~~~~~
l_6x10
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:506:33: error: ‘Rho’ was not declared in this scope
find_betas_approx_1(&L_6x10, &Rho, Betas[1]);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:506:33: note: suggested alternative: ‘rho’
find_betas_approx_1(&L_6x10, &Rho, Betas[1]);
^~~
rho
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::estimate_R_and_t(double ()[3], double)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:591:3: error: ‘CvMat’ was not declared in this scope
CvMat ABt = cvMat(3, 3, CV_64F, abt);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:592:9: error: expected ‘;’ before ‘ABt_D’
CvMat ABt_D = cvMat(3, 1, CV_64F, abt_d);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:593:9: error: expected ‘;’ before ‘ABt_U’
CvMat ABt_U = cvMat(3, 3, CV_64F, abt_u);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:594:9: error: expected ‘;’ before ‘ABt_V’
CvMat ABt_V = cvMat(3, 3, CV_64F, abt_v);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:596:14: error: ‘ABt’ was not declared in this scope
cvSetZero(&ABt);
^~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:596:3: error: ‘cvSetZero’ was not declared in this scope
cvSetZero(&ABt);
^~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:608:16: error: ‘ABt_D’ was not declared in this scope
cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:608:24: error: ‘ABt_U’ was not declared in this scope
cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:608:32: error: ‘ABt_V’ was not declared in this scope
cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:608:39: error: ‘CV_SVD_MODIFY_A’ was not declared in this scope
cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
^~~~~~~~~~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:608:39: note: suggested alternative: ‘CV_HAL_SVD_MODIFY_A’
cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
^~~~~~~~~~~~~~~
CV_HAL_SVD_MODIFY_A
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:608:3: error: ‘cvSVD’ was not declared in this scope
cvSVD(&ABt, &ABt_D, &ABt_U, &ABt_V, CV_SVD_MODIFY_A);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: At global scope:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:667:43: error: ‘CvMat’ does not name a type
void PnPsolver::find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:667:65: error: ‘CvMat’ does not name a type
void PnPsolver::find_betas_approx_1(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::find_betas_approx_1(const int*, const int*, double*)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:671:3: error: ‘CvMat’ was not declared in this scope
CvMat L_6x4 = cvMat(6, 4, CV_64F, l_6x4);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:672:9: error: expected ‘;’ before ‘B4’
CvMat B4 = cvMat(4, 1, CV_64F, b4);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:675:13: error: ‘L_6x4’ was not declared in this scope
cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0));
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:675:13: note: suggested alternative: ‘l_6x4’
cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0));
^~~~~
l_6x4
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:675:26: error: ‘cvmGet’ was not declared in this scope
cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:675:26: note: suggested alternative: ‘memset’
cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
memset
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:675:5: error: ‘cvmSet’ was not declared in this scope
cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:675:5: note: suggested alternative: ‘memset’
cvmSet(&L_6x4, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
memset
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:12: error: ‘L_6x4’ was not declared in this scope
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:12: note: suggested alternative: ‘l_6x4’
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~~~~
l_6x4
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:25: error: ‘B4’ was not declared in this scope
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:25: note: suggested alternative: ‘b4’
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~
b4
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:29: error: ‘CV_SVD’ was not declared in this scope
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:29: note: suggested alternative: ‘CV_AVX’
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~~~~~
CV_AVX
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:3: error: ‘cvSolve’ was not declared in this scope
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:681:3: note: suggested alternative: ‘qr_solve’
cvSolve(&L_6x4, Rho, &B4, CV_SVD);
^~~~~~~
qr_solve
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: At global scope:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:699:43: error: ‘CvMat’ does not name a type
void PnPsolver::find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:699:65: error: ‘CvMat’ does not name a type
void PnPsolver::find_betas_approx_2(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::find_betas_approx_2(const int*, const int*, double*)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:703:3: error: ‘CvMat’ was not declared in this scope
CvMat L_6x3 = cvMat(6, 3, CV_64F, l_6x3);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:704:9: error: expected ‘;’ before ‘B3’
CvMat B3 = cvMat(3, 1, CV_64F, b3);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:707:13: error: ‘L_6x3’ was not declared in this scope
cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0));
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:707:13: note: suggested alternative: ‘l_6x3’
cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0));
^~~~~
l_6x3
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:707:26: error: ‘cvmGet’ was not declared in this scope
cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:707:26: note: suggested alternative: ‘memset’
cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
memset
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:707:5: error: ‘cvmSet’ was not declared in this scope
cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:707:5: note: suggested alternative: ‘memset’
cvmSet(&L_6x3, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
memset
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:12: error: ‘L_6x3’ was not declared in this scope
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:12: note: suggested alternative: ‘l_6x3’
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~~~~
l_6x3
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:25: error: ‘B3’ was not declared in this scope
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:25: note: suggested alternative: ‘b3’
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~
b3
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:29: error: ‘CV_SVD’ was not declared in this scope
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:29: note: suggested alternative: ‘CV_AVX’
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~~~~~
CV_AVX
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:3: error: ‘cvSolve’ was not declared in this scope
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:712:3: note: suggested alternative: ‘qr_solve’
cvSolve(&L_6x3, Rho, &B3, CV_SVD);
^~~~~~~
qr_solve
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: At global scope:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:731:43: error: ‘CvMat’ does not name a type
void PnPsolver::find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:731:65: error: ‘CvMat’ does not name a type
void PnPsolver::find_betas_approx_3(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::find_betas_approx_3(const int*, const int*, double*)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:735:3: error: ‘CvMat’ was not declared in this scope
CvMat L_6x5 = cvMat(6, 5, CV_64F, l_6x5);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:736:9: error: expected ‘;’ before ‘B5’
CvMat B5 = cvMat(5, 1, CV_64F, b5);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:739:13: error: ‘L_6x5’ was not declared in this scope
cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0));
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:739:13: note: suggested alternative: ‘l_6x5’
cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0));
^~~~~
l_6x5
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:739:26: error: ‘cvmGet’ was not declared in this scope
cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:739:26: note: suggested alternative: ‘memset’
cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
memset
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:739:5: error: ‘cvmSet’ was not declared in this scope
cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:739:5: note: suggested alternative: ‘memset’
cvmSet(&L_6x5, i, 0, cvmGet(L_6x10, i, 0));
^~~~~~
memset
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:12: error: ‘L_6x5’ was not declared in this scope
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:12: note: suggested alternative: ‘l_6x5’
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~~~~
l_6x5
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:25: error: ‘B5’ was not declared in this scope
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:25: note: suggested alternative: ‘b5’
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~
b5
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:29: error: ‘CV_SVD’ was not declared in this scope
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:29: note: suggested alternative: ‘CV_AVX’
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~~~~~
CV_AVX
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:3: error: ‘cvSolve’ was not declared in this scope
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:746:3: note: suggested alternative: ‘qr_solve’
cvSolve(&L_6x5, Rho, &B5, CV_SVD);
^~~~~~~
qr_solve
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: At global scope:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:813:23: error: ‘CvMat’ has not been declared
double betas[4], CvMat * A, CvMat * b)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:813:34: error: ‘CvMat’ has not been declared
double betas[4], CvMat * A, CvMat * b)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::compute_A_and_b_gauss_newton(const double*, const double*, double*, int*, int*)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:817:24: error: request for member ‘data’ in ‘* A’, which is of non-class type ‘int’
double * rowA = A->data.db + i * 4;
^~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:824:5: error: ‘cvmSet’ was not declared in this scope
cvmSet(b, i, 0, rho[i] -
^~~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:824:5: note: suggested alternative: ‘memset’
cvmSet(b, i, 0, rho[i] -
^~~~~~
memset
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: At global scope:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:840:36: error: ‘CvMat’ does not name a type
void PnPsolver::gauss_newton(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:840:58: error: ‘CvMat’ does not name a type
void PnPsolver::gauss_newton(const CvMat * L_6x10, const CvMat * Rho,
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: In member function ‘void ORB_SLAM2::PnPsolver::gauss_newton(const int*, const int*, double*)’:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:846:3: error: ‘CvMat’ was not declared in this scope
CvMat A = cvMat(6, 4, CV_64F, a);
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:847:9: error: expected ‘;’ before ‘B’
CvMat B = cvMat(6, 1, CV_64F, b);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:848:9: error: expected ‘;’ before ‘X’
CvMat X = cvMat(4, 1, CV_64F, x);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:851:42: error: request for member ‘data’ in ‘* L_6x10’, which is of non-class type ‘const int’
compute_A_and_b_gauss_newton(L_6x10->data.db, Rho->data.db,
^~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:851:56: error: request for member ‘data’ in ‘* Rho’, which is of non-class type ‘const int’
compute_A_and_b_gauss_newton(L_6x10->data.db, Rho->data.db,
^~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:852:14: error: ‘A’ was not declared in this scope
betas, &A, &B);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:852:18: error: ‘B’ was not declared in this scope
betas, &A, &B);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:853:23: error: ‘X’ was not declared in this scope
qr_solve(&A, &B, &X);
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc: At global scope:
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:860:26: error: variable or field ‘qr_solve’ declared void
void PnPsolver::qr_solve(CvMat * A, CvMat * b, CvMat * X)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:860:26: error: ‘CvMat’ was not declared in this scope
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:860:34: error: ‘A’ was not declared in this scope
void PnPsolver::qr_solve(CvMat * A, CvMat * b, CvMat * X)
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:860:37: error: ‘CvMat’ was not declared in this scope
void PnPsolver::qr_solve(CvMat * A, CvMat * b, CvMat * X)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:860:45: error: ‘b’ was not declared in this scope
void PnPsolver::qr_solve(CvMat * A, CvMat * b, CvMat * X)
^
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:860:48: error: ‘CvMat’ was not declared in this scope
void PnPsolver::qr_solve(CvMat * A, CvMat * b, CvMat * X)
^~~~~
/home/spiri/ros_opencv_dependables/src/orb_slam_2_ros/orb_slam2/src/PnPsolver.cc:860:56: error: ‘X’ was not declared in this scope
void PnPsolver::qr_solve(CvMat * A, CvMat * b, CvMat * X)
^
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make[2]: *** [orb_slam_2_ros/CMakeFiles/orb_slam2_ros.dir/orb_slam2/src/PnPsolver.cc.o] Error 1
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