I can't make it.

Question

I can't make it.

Xiangzhaohong opened this issue 6 years ago · comments

/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp: In member function ‘void loam::MultiScanRegistration::process(const pcl::PointCloudpcl::PointXYZ&, const float&)’:
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:133:76: error: parameter declared ‘auto’
std::for_each(_laserCloudScans.begin(), _laserCloudScans.end(), {v.clear(); });
^
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp: In lambda function:
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:133:80: error: ‘v’ was not declared in this scope
std::for_each(laserCloudScans.begin(), laserCloudScans.end(), {v.clear(); });
^
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:133:80: note: suggested alternative:
In file included from /usr/include/boost/preprocessor/tuple/elem.hpp:22:0,
from /usr/include/boost/preprocessor/arithmetic/add.hpp:21,
from /usr/include/boost/mpl/aux/preprocessor/def_params_tail.hpp:66,
from /usr/include/boost/mpl/aux/na_spec.hpp:28,
from /usr/include/boost/mpl/not.hpp:20,
from /usr/include/boost/mpl/assert.hpp:17,
from /usr/include/pcl-1.7/pcl/point_traits.h:51,
from /usr/include/pcl-1.7/pcl/register_point_struct.h:55,
from /usr/include/pcl-1.7/pcl/point_types.h:44,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/common.h:36,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/ScanRegistration.h:37,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/MultiScanRegistration.h:36,
from /home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:33:
/usr/include/pcl-1.7/pcl/point_types.h:369:1: note: ‘pcl::fields::v’
POINT_CLOUD_REGISTER_POINT_STRUCT (pcl::_PointXYZHSV,
^
In file included from /usr/include/c++/4.8/algorithm:62:0,
from /usr/include/boost/smart_ptr/shared_ptr.hpp:42,
from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/pcl-1.7/pcl/PCLPointField.h:11,
from /usr/include/pcl-1.7/pcl/point_traits.h:48,
from /usr/include/pcl-1.7/pcl/register_point_struct.h:55,
from /usr/include/pcl-1.7/pcl/point_types.h:44,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/common.h:36,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/ScanRegistration.h:37,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/MultiScanRegistration.h:36,
from /home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:33:
/usr/include/c++/4.8/bits/stl_algo.h: In instantiation of ‘_Funct std::for_each(_IIter, _IIter, _Funct) [with _IIter = __gnu_cxx::__normal_iterator<pcl::PointCloudpcl::PointXYZI, std::vector<pcl::PointCloudpcl::PointXYZI > >; _Funct = loam::MultiScanRegistration::process(const pcl::PointCloudpcl::PointXYZ&, const float&)::__lambda0]’:
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:133:92: required from here
/usr/include/c++/4.8/bits/stl_algo.h:4417:14: error: no match for call to ‘(loam::MultiScanRegistration::process(const pcl::PointCloudpcl::PointXYZ&, const float&)::__lambda0) (pcl::PointCloudpcl::PointXYZI&)’
__f(__first);
^
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:133:68: note: candidates are:
std::for_each(_laserCloudScans.begin(), _laserCloudScans.end(), {v.clear(); });
^
In file included from /usr/include/c++/4.8/algorithm:62:0,
from /usr/include/boost/smart_ptr/shared_ptr.hpp:42,
from /usr/include/boost/shared_ptr.hpp:17,
from /usr/include/pcl-1.7/pcl/PCLPointField.h:11,
from /usr/include/pcl-1.7/pcl/point_traits.h:48,
from /usr/include/pcl-1.7/pcl/register_point_struct.h:55,
from /usr/include/pcl-1.7/pcl/point_types.h:44,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/common.h:36,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/ScanRegistration.h:37,
from /home/xiangdd/loam_velodyne_kitti/include/loam_velodyne/MultiScanRegistration.h:36,
from /home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:33:
/usr/include/c++/4.8/bits/stl_algo.h:4417:14: note: void ()()
__f(__first);
^
/usr/include/c++/4.8/bits/stl_algo.h:4417:14: note: candidate expects 1 argument, 2 provided
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:133:77: note: loam::MultiScanRegistration::process(const pcl::PointCloudpcl::PointXYZ&, const float&)::__lambda0
std::for_each(_laserCloudScans.begin(), _laserCloudScans.end(), {v.clear(); });
^
/home/xiangdd/loam_velodyne_kitti/src/lib/MultiScanRegistration.cpp:133:77: note: candidate expects 0 arguments, 1 provided
make[2]: *** [src/lib/CMakeFiles/loam.dir/MultiScanRegistration.cpp.o] 错误 1
make[1]: *** [src/lib/CMakeFiles/loam.dir/all] 错误 2
make: *** [all] 错误 2

jianrui1 · Answer 1 · Mon Dec 17 2018 23:35:16 GMT+0800 (China Standard Time)

hi,do you succeed in kitti data ?I got a bad result. Can you share your code to me?

Clayder Gonzalez · Answer 2 · Wed Dec 19 2018 01:06:27 GMT+0800 (China Standard Time)

Helllo @jianrui1
I did not obtained the same results shown in the KITTI Benchmark. The code I wrote here still needs a change in the time stamps when each transform is returned. I haven't had time to modify the code, but it should improve the results.

jianrui1 · Answer 3 · Wed Dec 19 2018 23:38:02 GMT+0800 (China Standard Time)

@claydergc Thank you for your reply. In your github,your running method is:./main "KITTI Dataset Path" "NumberOfSequence". I want to know the KITTI Dataset is raw data ?or odometry sequence? Can you give me a example about how to run in trunly dataset?

Clayder Gonzalez · Answer 4 · Tue Jan 08 2019 08:00:52 GMT+0800 (China Standard Time)

@Xiangzhaohong sorry for the delay in answering. The error is produced because you have to set the compiler to use C++14 as laboshinl's code. It seems also that the PCL version is producing problems. I used PCL 1.8.