Orb_slam2: Error while building ORB_SLAM2

[akashshar]

Can someone please guide me? Hello I am getting the following error while building
Thank you very much in advance.

akash@akash:~/src/ORB_SLAM2$ ./build.sh Configuring and building Thirdparty/DBoW2 ... mkdir: cannot create directory ‘build’: File exists -- Configuring done -- Generating done -- Build files have been written to: /home/akash/src/ORB_SLAM2/Thirdparty/DBoW2/build [100%] Built target DBoW2 Configuring and building Thirdparty/g2o ... mkdir: cannot create directory ‘build’: File exists -- BUILD TYPE:Release -- Compiling on Unix -- Configuring done -- Generating done -- Build files have been written to: /home/akash/src/ORB_SLAM2/Thirdparty/g2o/build [100%] Built target g2o Uncompress vocabulary ... Configuring and building ORB_SLAM2 ... mkdir: cannot create directory ‘build’: File exists Build type: Release -- Using flag -std=c++11. -- Configuring done -- Generating done -- Build files have been written to: /home/akash/src/ORB_SLAM2/build [ 76%] Built target ORB_SLAM2 [ 80%] Building CXX object CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o [ 84%] [ 88%] [ 92%] Building CXX object CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o [ 96%] [100%] Building CXX object CMakeFiles/rgbd_tum.dir/Examples/RGB-D/rgbd_tum.cc.o Building CXX object CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o Building CXX object CMakeFiles/stereo_euroc.dir/Examples/Stereo/stereo_euroc.cc.o Building CXX object CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o /home/akash/src/ORB_SLAM2/Examples/Monocular/mono_euroc.cc: In function ‘int main(int, char**)’: /home/akash/src/ORB_SLAM2/Examples/Monocular/mono_euroc.cc:73:48: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED); ^ /home/akash/src/ORB_SLAM2/Examples/RGB-D/rgbd_tum.cc: In function ‘int main(int, char**)’: /home/akash/src/ORB_SLAM2/Examples/RGB-D/rgbd_tum.cc:80:74: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope imRGB = cv::imread(string(argv[3])+"/"+vstrImageFilenamesRGB[ni],CV_LOAD_IMAGE_UNCHANGED); ^ /home/akash/src/ORB_SLAM2/Examples/Monocular/mono_kitti.cc: In function ‘int main(int, char**)’: /home/akash/src/ORB_SLAM2/Examples/Monocular/mono_kitti.cc:68:48: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED); ^ /home/akash/src/ORB_SLAM2/Examples/Stereo/stereo_euroc.cc: In function ‘int main(int, char**)’: /home/akash/src/ORB_SLAM2/Examples/Stereo/stereo_euroc.cc:119:47: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope imLeft = cv::imread(vstrImageLeft[ni],CV_LOAD_IMAGE_UNCHANGED); ^ /home/akash/src/ORB_SLAM2/Examples/Stereo/stereo_kitti.cc: In function ‘int main(int, char**)’: /home/akash/src/ORB_SLAM2/Examples/Stereo/stereo_kitti.cc:69:47: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope imLeft = cv::imread(vstrImageLeft[ni],CV_LOAD_IMAGE_UNCHANGED); ^ /home/akash/src/ORB_SLAM2/Examples/Monocular/mono_tum.cc: In function ‘int main(int, char**)’: /home/akash/src/ORB_SLAM2/Examples/Monocular/mono_tum.cc:68:68: error: ‘CV_LOAD_IMAGE_UNCHANGED’ was not declared in this scope im = cv::imread(string(argv[3])+"/"+vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED); ^ make[2]: *** [CMakeFiles/mono_euroc.dir/Examples/Monocular/mono_euroc.cc.o] Error 1 make[1]: *** [CMakeFiles/mono_euroc.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... make[2]: *** [CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o] Error 1 make[1]: *** [CMakeFiles/mono_kitti.dir/all] Error 2 make[2]: *** [CMakeFiles/rgbd_tum.dir/Examples/RGB-D/rgbd_tum.cc.o] Error 1 make[1]: *** [CMakeFiles/rgbd_tum.dir/all] Error 2 make[2]: *** [CMakeFiles/stereo_euroc.dir/Examples/Stereo/stereo_euroc.cc.o] Error 1 make[1]: *** [CMakeFiles/stereo_euroc.dir/all] Error 2 make[2]: *** [CMakeFiles/stereo_kitti.dir/Examples/Stereo/stereo_kitti.cc.o] Error 1 make[1]: *** [CMakeFiles/stereo_kitti.dir/all] Error 2 make[2]: *** [CMakeFiles/mono_tum.dir/Examples/Monocular/mono_tum.cc.o] Error 1 make[1]: *** [CMakeFiles/mono_tum.dir/all] Error 2 make: *** [all] Error 2

[akashshar]

I got the solution, CV_LOAD_IMAGE_UNCHANGED is outdated since openCV 3.x.x
So, i simply replaced CV_LOAD_IMAGE_UNCHANGED with it's enum value -1

[kbad10]

Hi, I'm encountering same problem but I did not understand your solution. Can you explain more? I don't have much of a CS background.

[BaokakaWang]

You could add below in front of the cc file.

EX: in /xxxxxx/ORB_SLAM2/Examples/Monocular/mono_kitti.cc

include

include

#define CV_LOAD_IMAGE_UNCHANGED -1 //new added one

[Shivani1796]

error: ‘CV_LOAD_IMAGE_GRAYSCALE’ was not declared in this scope
cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
How to resolve this error ?? Can anybody help