rpg_svo fatal error: sophus/se3.h: No such file or directory

[Kalexo]

Hello, I'm facing an error when I run catkin_make to use rpg_svo. Indeed, there is no header named sophus/se3.h or at least I didn't find one. I get the following errors:

In file included from /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/src/math_utils.cpp:8:0: /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:10: fatal error: sophus/se3.h: No such file or directory #include <sophus/se3.h> ^~~~~~~~~~~~~~ compilation terminated. rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:110: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o' failed make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/omni_camera.h:15:0, from /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/src/omni_camera.cpp:10: /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:10: fatal error: sophus/se3.h: No such file or directory #include <sophus/se3.h> ^~~~~~~~~~~~~~ compilation terminated. rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/build.make:86: recipe for target 'rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o' failed make[2]: *** [rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o] Error 1 [ 40%] Built target imu_filter [ 45%] Built target rviz_imu_plugin [ 45%] Built target svo_msgs_generate_messages In file included from /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/atan_camera.h:20:0, from /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/src/atan_camera.cpp:14: /home/chappat/catkin_ws/src/rpg_vikit/vikit_common/include/vikit/math_utils.h:14:10: fatal error: sophus/se3.h: No such file or directory #include <sophus/se3.h>

I am using the ROS Melodic version. Do you have any lead for this problem? Thanks in advance

[ferreram]

You either need to get the version of Sophus which was used by the time SVO was developed or change the headers (and more in the codes) to cope with the updates in Sophus. Right now, sophus headers are ".hpp" files and not ".h" files anymore.

[mext169]

I build svo without ROS and meet the same error like you.I change vikit_common/CMakeLists.txt as follow # FIND_PACKAGE(Sophus REQUIRED) set(Sophus_INCLUDE_DIRS "/media/lab/m2_mext/Github_/rpg_svo_ws/Sophus") set(Sophus_LIBS "/media/lab/m2_mext/Github_/rpg_svo_ws/Sophus/build/libSophus.so")

ADD_LIBRARY(${PROJECT_NAME} SHARED ${SOURCEFILES}) TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${OpenCV_LIBS} ${Sophus_LIBS})

my error was solved after that.

[DaddyWesker]

I've met same problem. Despite installation guide tells you that running cmake .. and then make in Sophus build dir is enough, it is necessary to run make install too. After that this problem with se3.h was resolved.