WIKI de Bertrand VANDEPORTAELE

mkdir ~/multicolslam
cd ~/multicolslam
sudo apt-get install libglew-dev cmake
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j

OpenCV 3.1 déjà installé ailleurs…

cd ~/multicolslam
git clone https://github.com/urbste/MultiCol-SLAM.git MultiCol-SLAM
cd MultiCol-SLAM
chmod +x build.sh
./build.sh

result.txt

In file included from /usr/include/c++/5/bits/stl_function.h:1128:0,
                 from /usr/include/c++/5/string:48,
                 from /usr/include/c++/5/random:40,
                 from /usr/include/c++/5/bits/stl_algo.h:66,
                 from /usr/include/c++/5/algorithm:62,
                 from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core/base.hpp:53,
                 from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/core.hpp:54,
                 from /opt/ros/kinetic/include/opencv-3.1.0-dev/opencv2/opencv.hpp:48,
                 from /home/bvandepo/multicolslam/MultiCol-SLAM/src/cTracking.cpp:27:
/usr/include/c++/5/backward/binders.h:108:11: note: declared here
     class binder1st
           ^
In file included from /home/bvandepo/multicolslam/MultiCol-SLAM/src/g2o_MultiCol_sim3_expmap.cpp:20:0:
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:117:22: error: expected ‘)’ before ‘<’ token
    std::unordered_map<size_t, int>& kp_to_cam1,
                      ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:175:8: error: ‘unordered_map’ in namespace ‘std’ does not name a template type
   std::unordered_map<size_t, int> keypoint_to_cam1;
        ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:176:8: error: ‘unordered_map’ in namespace ‘std’ does not name a template type
   std::unordered_map<size_t, int> keypoint_to_cam2;
        ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h: In member function ‘cv::Vec2d MultiColSLAM::VertexSim3Expmap_Multi::cam_map1(const Vector3d&, int) const’:
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:142:17: error: ‘keypoint_to_cam1’ was not declared in this scope
    int camIdx = keypoint_to_cam1.find(ptIdx)->second;
                 ^
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h: In member function ‘cv::Vec2d MultiColSLAM::VertexSim3Expmap_Multi::cam_map2(const Vector3d&, int) const’:
/home/bvandepo/multicolslam/MultiCol-SLAM/include/g2o_MultiCol_sim3_expmap.h:153:17: error: ‘keypoint_to_cam2’ was not declared in this scope
    int camIdx = keypoint_to_cam2.find(ptIdx)->second;
                 ^
/home/bvandepo/multicolslam/MultiCol-SLAM/src/g2o_MultiCol_sim3_expmap.cpp: At global scope:
/home/bvandepo/multicolslam/MultiCol-SLAM/src/g2o_MultiCol_sim3_expmap.cpp:25:48: error: expected constructor, destructor, or type conversion before ‘(’ token
  VertexSim3Expmap_Multi::VertexSim3Expmap_Multi(
                                                ^

Pour déterminer sur quelle partie est le pb:

cat build.sh 

c'est la compile de multicol qui déconne, tout le reste ok….

EIGEN3_INCLUDE_DIR=$(pwd)/Eigen
export EIGEN3_INCLUDE_DIR
echo $(pwd)
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j

dans le ~/multicolslam/MultiCol-SLAM/CMakeLists.txt, j'ajoute:

cmake_minimum_required(VERSION 3.5)

et après IF(NOT DEFINED EIGEN_INCLUDE_DIR_HINTS)

MESSAGE("Using internal Eigen")

c'est bien la version interne d'eigen qui est utilisée…

Problème de compilation décrit par Antoine sur: https://github.com/urbste/MultiCol-SLAM/issues/1 Il dit de remplacer: std::unordered_map par std::tr1::unordered_map

cd ~/multicolslam/MultiCol-SLAM
grep -nRi  std::unordered_map  *
find . -name "*" -exec sed -i 's,std::unordered_map,std::tr1::unordered_map,g' {} \;
grep -nRi  std::tr1::unordered_map  *
make -j

L'executable est dans

~/multicolslam/MultiCol-SLAM/Examples/Lafida/multi_col_slam_lafida

récupérer les données d'exemple:

cd ~/multicolslam
wget http://www2.ipf.kit.edu/%7Epcv2016/downloads/indoor_dynamic.zip