Binh-Son Hua

Hi, From this error: /usr/bin/ld: /usr/local/lib/libg2o_core.a(hyper_graph_cpp.o): relocation R_X86_64_325 against '_ZTVN3g2o10HyperGraph4EdgeE' can not be used when making a shared object: recompile with -fPIC /usr/local/lib/libg2o_core.a: error adding symbols: Bad value collect2: error:...

Do you have Eigen and Ceres installed on your system? And check if FindEigen3.cmake is available to your CMake. Another thing is to check the version of the installed Eigen....

@YuQingL Did you checkout the g2o version 67d5fa7 as in the README.md? ``` git clone https://github.com/RainerKuemmerle/g2o.git cd g2o git checkout 67d5fa7 mkdir build cd build cmake .. -DBUILD_SHARED_LIBS:BOOL=OFF -DBUILD_LGPL_SHARED_LIBS:BOOL=OFF -DG2O_BUILD_APPS:BOOL=OFF...

Did you execute git clone before checkout? And is your g2o folder symlinked or mounted from somewhere? You can try going to other folder and git clone and see if...

@YuQingL First I think Kinect v2 is not 640x480. Did you rescale the images? If you rescale, you have to change the focal length and center of projection properly in...

I think setting proper image sizes and intrinsic parameters will work. You can try that and see if you get reasonable reconstruction. Note that rescaling and cropping are two different...

I'm not so sure what happens, but it seems Sophus's master branch is updated recently. One possibility is to use an earlier commit of Sophus, e.g., b474f05 back in May...