The complete SLAM pipeline cannot be built

[18709817706]

run python setup_linux_full.py build_ext -i,There is an error.
../../gpu-kernels/meanshift.cu:14:94: error: default template arguments may not be used in function templates without -std=c++11 or -std=gnu++11
at kernel_var, float* d_o_weight, float* d_o_weighted_space, int N, int dims) {
Would you please help me.

[htkseason]

Hello,
The error message seems related with c++ version you are using. What is your gcc/g++ version? Could you try follow the error message and add -std=c++11 to the compiling?

[18709817706]

Thank you for your answer. My question is cuda does not support it, but there is one question. Please help me.

Full pyvoldor module loaded.
Namespace(abs_resize=0.25, bf=192.19074, cx=304.77965, cy=86.427, disp_dir='/home/ymy/project/VOLDOR/KITTI-03/disp_mfn', enable_loop_closure='./ORBvoc.bin', enable_mapping=True, flow_dir='/home/ymy/project/VOLDOR/KITTI-03/flow_mfn', fx=360.76885, fy=360.76885, img_dir='/home/ymy/project/VOLDOR/KITTI-03/img', mode='stereo', resize=0.5, save_depths=None, save_poses=None)
Camera parameters set to 180.384425, 180.384425, 152.389825, 43.2135, 96.09537
Error: Loop closure not available. Cannot load pyDBoW3 module.

[18709817706]

I have installed pyDBoW3, but it cannot be loaded.

[htkseason]

Have you moved the binary file pyDBoW3.pyd to your workspace folder?

[18709817706]

Yes, I have put pyDBoW3. so in my workspace, but pyDBoW3 cannot be loaded.

[htkseason]

Can you remove the try catch segment in enable_loop_closure function, and let python print out the exact error message?

[18709817706]

I put demo After removing the enable loop closure function under py, no error occurs, but pyDBoW3 cannot be loaded.

[18709817706]

After I removed the enable loop closure function in demo.py, there was no error, but pyDBoW3 could not be loaded.

[htkseason]

Great to hear you having the system without loop closure running now.
Could you try to remove the try..except surround import pyDBoW3 as bow in the enable_loop_closure function in voldor_slam.py? Doing this will allow us to see the error message so we can debug from there.

[wangshuo98]

hello，I have the same error
I remove the try catch segment in enable_loop_closure function

ImportError: /home/VOLDOR/demo/pyDBoW3.so: undefined symbol: _ZN2cv3MatC2Ev

Looking forward to your response

[htkseason]

hello，I have the same error I remove the try catch segment in enable_loop_closure function

ImportError: /home/VOLDOR/demo/pyDBoW3.so: undefined symbol: _ZN2cv3MatC2Ev

Looking forward to your response

Thanks for reporting the problem. Seems building the full-pipeline has some common compatibility issue. I never met this under my clean ubuntu 18 environment. I will work on this when I have time. Meanwhile, you can first use VO-only, the performance (RPE) is actually very close.