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@duyilong I just met the same error as yours. There were opencv2.4 and opencv3.2 in my ubuntu 14.04. After removed opencv3.2, clean catkin_ws/build, and executed catkin_make, the Mono can run....

I found a stupid solution. Since my g2o installatoin dir is not default, I write my g2o lib dir into /etc/ld.so.conf and run "ldconfig". But I still don't know why...

Hi Marek, Thanks for your kindly reply. I understand how you train the additional layer. But I still try to find a way to train them together. Do you have...

Hi Marek, It seems a little harder to train the network together with the additional layer than train them separately. Thanks for your suggestion.