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when I make the but Velodyne lib I am getting following error: ‘cv:: vector’ has not been declared
I have installed Opencv2.4.13 but still the error persist

In file included from /home/nuc/Downloads/but_velodyne_lib-master/include/but_velodyne/CollarLinesRegistration.h:33:0,
                 from /home/nuc/Downloads/but_velodyne_lib-master/src/CollarLinesRegistration.cpp:32:
/home/nuc/Downloads/but_velodyne_lib-master/include/but_velodyne/Visualizer3D.h:256:35: error: ‘cv::vector’ has not been declared
                               cv::vector<cv::DMatch> matches = cv::vector<cv::D
                                   ^
/home/nuc/Downloads/but_velodyne_lib-master/include/but_velodyne/Visualizer3D.h:256:41: error: expected ‘,’ or ‘...’ before ‘<’ token
                               cv::vector<cv::DMatch> matches = cv::vector<cv::D
                                         ^
In file included from /usr/include/eigen3/Eigen/Core:297:0,
                 from /usr/include/eigen3/Eigen/StdVector:14,
                 from /usr/include/pcl-1.7/pcl/common/eigen.h:58,
                 from /home/nuc/Downloads/but_velodyne_lib-master/include/but_velodyne/CollarLinesRegistration.h:28,
                 from /home/nuc/Downloads/but_velodyne_lib-master/src/CollarLinesRegistration.cpp:32:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h: In instantiation of ‘static void Eigen::PlainObjectBase<Derived>::_check_template_params() [with Derived = Eigen::Matrix<float, 1, -1, 16>]’:
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:508:29:   required from ‘Eigen::PlainObjectBase<Derived>::PlainObjectBase(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 1, -1> >; Derived = Eigen::Matrix<float, 1, -1, 16>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:379:29:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::EigenBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<float>, Eigen::Matrix<float, 1, -1> >; _Scalar = float; int _Rows = 1; int _Cols = -1; int _Options = 16; int _MaxRows = 1; int _MaxCols = -1]’
/home/nuc/Downloads/but_velodyne_lib-master/src/CollarLinesRegistration.cpp:302:59:   required from here
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:862:7: error: ‘INVALID_MATRIX_TEMPLATE_PARAMETERS’ is not a member of ‘Eigen::internal::static_assertion<false>’
       EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCo
       ^
CMakeFiles/but_velodyne.dir/build.make:62: recipe for target 'CMakeFiles/but_velodyne.dir/src/CollarLinesRegistration.o' failed
make[2]: *** [CMakeFiles/but_velodyne.dir/src/CollarLinesRegistration.o] Error 1
CMakeFiles/Makefile2:178: recipe for target 'CMakeFiles/but_velodyne.dir/all' failed
make[1]: *** [CMakeFiles/but_velodyne.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

Hi,
I wanted to use the but_velodyne repo . For that i need to install this first. When i try to install this on ros melodic on debian stretch i get the error below. I tried to search why this error is coming where it says that it may be because the opencv contrib modules may not be installed and need to be recompiled with source. But i got the opencv 3.2.0 version with the ros melodic installation so how do i install the contrib modules to an existing installation of opencv which i didnt build from source.

i found these two links: http://wiki.ros.org/opencv3 and https://github.com/ros-gbp/opencv3-release which maybe helpful in resolving this error but there is no mention of melodic in them and i dont know how to use them .I am new to ros so i may be wrong. Please help . Thanks

The error trace is below:

[ 43%] Built target but_velodyne
[ 50%] Built target show_correspondences
[ 56%] Built target collar-lines-odom
[ 62%] Built target register-loops
[ 68%] Built target verify-loops
[ 75%] Built target show-kitti-poses
[ 81%] Built target find-loops-vfh
[ 87%] Built target extract-vfh
[ 93%] Built target slampp-solution-to-poses
[ 96%] Building CXX object CMakeFiles/sac-visual-registration.dir/src/apps/sac-visual-registration.o
/mnt/c/Users/KellyServices/Documents/awswork/rosfiles/testing/but_velodyne_lib/src/apps/sac-visual-registration.cpp:35:39: fatal error: opencv2/xfeatures2d.hpp: No such file or directory
     #include "opencv2/xfeatures2d.hpp"
                                       ^
compilation terminated.
CMakeFiles/sac-visual-registration.dir/build.make:62: recipe for target 'CMakeFiles/sac-visual-registration.dir/src/apps/sac-visual-registration.o' failed
make[2]: *** [CMakeFiles/sac-visual-registration.dir/src/apps/sac-visual-registration.o] Error 1
CMakeFiles/Makefile2:400: recipe for target 'CMakeFiles/sac-visual-registration.dir/all' failed
make[1]: *** [CMakeFiles/sac-visual-registration.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

Dear All,
I managed to compile the but_velodyne_lib and but_velodyne_ros based on #3
Now I am trying to test the program and I got a seg fault. I also run the program with gdb (rosrun --prefix 'gdb -ex run --args' but_velodyne_ros but_velodyne_ros_node ) and I got the output as shown below. Is there anything I did wrongly? Thanks a lot for the help!

GNU gdb (Ubuntu 7.7.1-0ubuntu5~14.04.2) 7.7.1
Copyright (C) 2014 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "i686-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
http://www.gnu.org/software/gdb/bugs/.
Find the GDB manual and other documentation resources online at:
http://www.gnu.org/software/gdb/documentation/.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from /home/vc1/catkin_ws/devel/lib/but_velodyne_ros/but_velodyne_ros_node...(no debugging symbols found)...done.
Starting program: /home/vc1/catkin_ws/devel/lib/but_velodyne_ros/but_velodyne_ros_node
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/i386-linux-gnu/libthread_db.so.1".
Traceback (most recent call last):
File "/usr/share/gdb/auto-load/usr/lib/i386-linux-gnu/libstdc++.so.6.0.19-gdb.py", line 63, in
from libstdcxx.v6.printers import register_libstdcxx_printers
ImportError: No module named 'libstdcxx'

Program received signal SIGSEGV, Segmentation fault.
__strcmp_ssse3 () at ../sysdeps/i386/i686/multiarch/strcmp-ssse3.S:241
241 ../sysdeps/i386/i686/multiarch/strcmp-ssse3.S: No such file or directory.
(gdb) continue
Continuing.

Program terminated with signal SIGSEGV, Segmentation fault.
The program no longer exists.

Nice work! I am interested to test out your code. How can I use it with ROS?

Dear All,
I managed to compile the but_velodyne_lib. then I run the script "demo.sh" to download 5 datasets.
but i met a problem like this:

collar-lines-odom 000000.bin 000001.bin 000002.bin 000003.bin 000004.bin > estimated.poses
21509: KITTI file: 000000.bin
Read KTTI point cloud 000000.bin with 124669 points.
collar-lines-odom: /usr/local/include/eigen3/Eigen/src/Core/DenseStorage.h:86: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
已放弃

it looks like the Eigen library's align problem, my Eigen version is 3.20... how can I slover this problem?

I've test several times with the script/demo.sh, this is the best result,but there is still some errors matching.. Does this result normal?

Hello. I test odometry estimation with the file collar-lines-odom.cpp on windows operating system.
I just Shielding the function of parse_arguments. I download the dataset of KITTI in 2011_09_26_drive_0002. I run the file in a release mode, the result looks like a little different from your result.

estimated.txt

How should I set the parameters in windows operating system, ant help?