我收到以下错误：
严重性代码描述项目文件行抑制状态 错误C2143语法错误：缺少';'在“ *”手电筒之前d：\ flashlight \ orbslam3 \ examples \ monocular \ flashlight.hpp 36
严重性代码描述项目文件行抑制状态 错误C4430缺少类型说明符-假定为int。注意：C ++不会 支持 default-int手电筒d：\ flashlight \ orbslam3 \ examples \ monocular \ flashlight.hpp 36
严重性代码描述项目文件行抑制状态 错误C2238之前的意外令牌 ';' d：\ flashlight \ orbslam3 \ examples \ monocular \ flashlight.hpp 36
这是我的头文件flashlight.hpp：
#ifndef FLASHLIGHT_H
#define FLASHLIGHT_H
#include <cstdlib>
#include <iostream>
#include <boost/bind.hpp>
#include <boost/asio.hpp>
#include <boost/thread.hpp>
#include <boost/thread/locks.hpp>
#include "orbslam3.hpp"
using boost::asio::ip::udp;
class Flashlight {
public:
Flashlight(boost::asio::io_service& io_service, short port) : io_service_(io_service), socket_(io_service, udp::endpoint(udp::v4(), port)) {
// start receiving udp data
socket_.async_receive_from(
boost::asio::buffer(data_recv_, max_length), sender_endpoint_, boost::bind(&Flashlight::handle_receive_from, this,
boost::asio::placeholders::error, boost::asio::placeholders::bytes_transferred)
);
}
void start_loop();
void send_beacon();
void handle_send_to(const boost::system::error_code& error, size_t bytes_sent);
void handle_receive_from(const boost::system::error_code& error, size_t bytes_recvd);
private:
ORBSLAM3 *orbslam; // <= ERRORS APPEAR HERE (Line 36)
boost::asio::io_service& io_service_;
udp::socket socket_;
udp::endpoint sender_endpoint_;
enum { max_length = 1024 };
char data_recv_[max_length];
char data_sent_[max_length];
};
#endif
这是我的实现文件flashlight.cpp：
#include "flashlight.hpp"
using namespace std; // for atoi()
using boost::asio::ip::udp;
int main(int argc, char* argv[]) {
try {
const uint16_t udp_port = 19630;
// thread to run network services asynchronously
boost::thread_group tgroup;
// start udp network endpoint
boost::asio::io_service io_service;
// instantiate flashlight class
Flashlight flashlight(io_service, udp_port);
// run network entities in own thread
tgroup.create_thread(boost::bind(&boost::asio::io_service::run, &io_service));
cout << "Server running on UDP port " << udp_port << endl;
// start main loop
flashlight.start_loop();
// shutdown network threads
tgroup.join_all();
} catch(exception& e) {
cerr << "Exception: " << e.what() << "\n";
}
return 0;
}
void Flashlight::start_loop() {
string sensor_type = "stereo";
string vocab_path = "D:\\Flashlight\\ORBSLAM3\\Examples\\Monocular\\Release\\ORBVoc.bin";
string settings_path = "D:\\Flashlight\\ORBSLAM3\\Examples\\Monocular\\Release\\stereo_2_8_mm_640_480.yaml";
//const string settings_path = "../"+sensor_type+"_"+lens_type+"_mm_"+to_string(cam_width)+"_"+to_string(cam_height)+".yaml";
uint16_t cam_width = 640;
uint16_t cam_height = 480;
// orb slam system initialization
this->orbslam = new ORBSLAM3(sensor_type, vocab_path, settings_path, cam_width, cam_height);
// mainloop
char key;
while((key = std::cin.get()) != 27) {
this->orbslam->loop();
}
// shutdown orbslam threads
this->orbslam->shutdown();
// save camera trajectory
//orbslam->SaveTrajectoryTUM("CameraTrajectory.txt");
}
void Flashlight::send_beacon() {
while(true) {
boost::posix_time::seconds workTime(1);
// send_async(beacon)
std::cout << "Beacon signal sent ..." << std::endl;
boost::this_thread::sleep(workTime);
}
}
void Flashlight::handle_receive_from(const boost::system::error_code& error, size_t bytes_recv) {
if(!error && bytes_recv > 0) {
std::cout << "UDP received: "; for(int i=0; i<bytes_recv; i++) std::cout << (int)data_recv_[i] << ", "; std::cout << std::endl;
// start listening again
socket_.async_receive_from(
boost::asio::buffer(data_recv_, max_length), sender_endpoint_, boost::bind(&Flashlight::handle_receive_from, this,
boost::asio::placeholders::error, boost::asio::placeholders::bytes_transferred)
);
}
}
void Flashlight::handle_send_to(const boost::system::error_code& error, size_t bytes_sent) {
socket_.async_send_to(
boost::asio::buffer(data_sent_, bytes_sent), sender_endpoint_, boost::bind(&Flashlight::handle_send_to, this,
boost::asio::placeholders::error, boost::asio::placeholders::bytes_transferred)
);
}
我找不到我想念的东西。有想法吗？
orbslam3.hpp和orbslam3.cpp #ifndef ORBSLAM3_H
#define ORBSLAM3_H
#include <algorithm>
#include <fstream>
#include <chrono>
#include <opencv2/core/core.hpp>
#include <cstdlib>
#include <iostream>
#include <boost/bind.hpp>
#include <boost/asio.hpp>
#include <boost/thread.hpp>
#include <boost/thread/locks.hpp>
#include "flashlight.hpp"
// ==============================
// IMPORTANT: Don NOT move up the
// ========== following include !
#include <System.h>
class ORBSLAM3 {
public:
ORBSLAM3(string &sensor_type, string &vocab_path, string &settings_path, uint16_t cam_width, uint16_t cam_height);
int loop();
void pause();
void resume();
void reset();
void setMode(bool mapping); // false := localization only, true := localization+mapping
void saveMap();
void loadMap();
void shutdown();
private:
string sensor_type; // types = {"mono", "stereo", "rgbd")
string vocab_path; // path to the vocabulary (*.bin/*.txt)
string settings_path; // patch to the settings file (*.yaml)
uint16_t cam_width; // horizontal camera resolution
uint16_t cam_height; // vertical camera resolution
ORB_SLAM2::System *slam; // main orbslam system
cv::VideoCapture *cap1; // first camera capture devices
cv::VideoCapture *cap2; // second camera capture devices
cv::Mat img_left, img_right; // stereo images captured
cv::Mat tcw; // pose output information
};
#endif
实施文件orbslam3.cpp：
#include "orbslam3.hpp"
using namespace std;
ORBSLAM3::ORBSLAM3(string &sensor_type, string &vocab_path, string &settings_path, uint16_t cam_width, uint16_t cam_height) {
// assign arguments to local fields
this->sensor_type = sensor_type;
this->vocab_path = vocab_path;
this->settings_path = settings_path;
this->cam_width = cam_width;
this->cam_height = cam_height;
// initialize ORBSLAM system
if(sensor_type.compare("mono")==0) {
this->slam = new ORB_SLAM2::System(vocab_path, settings_path, ORB_SLAM2::System::MONOCULAR, true, true);
} else if(sensor_type.compare("stereo")==0) {
this->slam = new ORB_SLAM2::System(vocab_path, settings_path, ORB_SLAM2::System::STEREO, true, true);
} else if(sensor_type.compare("rgbd")==0) {
this->slam = new ORB_SLAM2::System(vocab_path, settings_path, ORB_SLAM2::System::RGBD, true, true);
} else {
std::cout << "ERROR: Unknown sensor type: " << sensor_type << std::endl;
}
// initialize cameras
cap1 = new cv::VideoCapture(0);
cap2 = new cv::VideoCapture(1);
// set camera resolutions
cap1->set(CV_CAP_PROP_FRAME_WIDTH, cam_width);
cap1->set(CV_CAP_PROP_FRAME_HEIGHT, cam_height);
cap2->set(CV_CAP_PROP_FRAME_WIDTH, cam_width);
cap2->set(CV_CAP_PROP_FRAME_HEIGHT, cam_height);
}
int ORBSLAM3::loop() {
// capture left and right images
cap1->read(img_right);
cap2->read(img_left);
// convert to b/w
//cv::cvtColor(imRight, imRight, CV_BGR2GRAY);
//cv::cvtColor(imLeft, imLeft, CV_BGR2GRAY);
// check image validity
if(img_left.empty()) {
cerr << endl << "Failed to capture left image." << endl;
return 1;
}
if(img_right.empty()) {
cerr << endl << "Failed to capture right image." << endl;
return 1;
}
// time
__int64 cnow = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
// pass the images to the SLAM system
tcw = slam->TrackStereo(img_left, img_right, cnow / 1000.0);
// visualize stereo images
cv::imshow("Left Image", img_left);
cv::imshow("Right Image", img_right);
}
void ORBSLAM3::pause() {
}
void ORBSLAM3::resume() {
}
void ORBSLAM3::reset() {
}
void ORBSLAM3::setMode(bool mapping) {
}
void ORBSLAM3::saveMap() {
}
void ORBSLAM3::loadMap() {
}
void ORBSLAM3::shutdown() {
slam->Shutdown();
cap1->release();
cap2->release();
}
答案 0 :(得分：2)
好像您具有循环依赖关系。 解决该问题，它应该可以工作。
// Remove this line.
// #include "orbslam3.hpp"
// Add a forward declaration.
// Unless you need the full declaration you should not be including the header file
// Prefer to use forward declarations when you are just using a pointer.
class ORBSLAM3;
#include "flashlight.hpp"
// Add this line.
// You will probably need the actual definition if you use it in the code.
#include "orbslam3.hpp"
// Does not even look you need this in the header file.
// Remove headers you don't need.
// #include "flashlight.hpp"