Hi Lucas,

The rosinstall instructions on the vslam page are still the correct way to
get vslam built against cturtle. A couple of quick checks:

 * Your cturtle install is at /opt/ros/cturtle
 * In your ROS_PACKAGE_PATH, the unstable vision_opencv install comes before
/opt/ros/cturtle/stacks
 * Your unstable vision_opencv is version 1.3.3 (check the CMakeLists.txt)

The most recent unstable release of vision_opencv checks out OpenCV r3842,
which definitely includes DMatch and other relevant changes.

HTH,
Patrick

On Tue, Nov 9, 2010 at 11:43 AM, Lucas <wsacul@gmail.com> wrote:

> I'm using cturtle and followed the instructions at
> http://www.ros.org/wiki/vslam, but encountered an error about DMatch:
>
> vslam/frame_common/include/frame_common/frame.h:207: error: ‘DMatch’ is not a member of ‘cv’
>
>
> I don't see DMatch in my vision_opencv or in any of the files the checkout
> of the unstable tag pulled in.  I tried copying DMatch from
> https://code.ros.org/trac/opencv/browser/branches/features2d/opencv/modules/features2d/include/opencv2/features2d/features2d.hpp?rev=3589and got the build to this error:
>
> vslam/frame_common/src/frame.cpp:163: error: no match for ‘operator=’ in
> ‘((frame_common::FrameProc*)this)->frame_common::FrameProc::detector =
> (int*)operator new(4u)’
>
> I think I could hack further but I'm curious if there's a correct way to
> get vslam built.
>
> Thank you,
>
> Lucas Walter
>
>
> On Fri, Sep 24, 2010 at 4:06 PM, Kurt Konolige <konolige@willowgarage.com>wrote:
>
>> All -
>>
>> The vslam packages have moved around a bit lately, but have settled
>> down.  They now require unstable versions of opencv and pcl.  For your
>> convenience, there's an install file you can use to set up vslam
>> correctly, thanks to Patrick Mihelich.
>>
>> # Download vision_opencv, point_cloud_perception and vslam sources
>> $ rosinstall ~/vslam_unstable /opt/ros/cturtle
>>
>> https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/rosinstall_files/cturtle/vslam-cturtle-base-overlay-devel.rosinstall
>>
>> # Set up environment
>> $ . ~/vslam_unstable/setup.sh
>>
>> # Build
>> $ rosmake vslam_system
>>
>> This info will also be on the wiki page.
>>
>> Cheers --Kurt
>>
>>
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