multiple definition of `corresp' : error while installing RGBD SLAM

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Hi,

I have ubuntu 12.04 and Fuerte. I am trying to install RGBD SLAM.

Currently I am getting error like this

Most of the error says multiple definition of 'corresp'

/opt/ros/fuerte/stacks/geometry/tf/include/tf/LinearMath/Matrix3x3.h:246: multiple definition of `corresp'

  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `__insertion_sort<__gnu_cxx::__normal_iterator<std::pair<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*>*, std::vector<std::pair<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*>, std::allocator<std::pair<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*> > > >, g2o::{anonymous}::CmpPairFirst<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*, std::less<int> > >':
  /usr/include/c++/4.6/bits/stl_algo.h:2123: multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/graph_mgr_io.o: In function `boost::shared_ptr<pcl::PointCloud<pcl::PointXYZRGB> >::operator*() const':
  /usr/include/boost/smart_ptr/shared_ptr.hpp:410: multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/landmark.o: In function `Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3, 0, 3, 3>, 1>::operator()(int, int)':
  /usr/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h:347: multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/loop_closing.o:(.bss+0x0): multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/icp.o: In function `~PooledAllocator':
  /opt/ros/fuerte/include/flann/util/allocator.h:108: multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/transformation_estimation.o: In function `__insertion_sort<__gnu_cxx::__normal_iterator<std::pair<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*>*, std::vector<std::pair<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*>, std::allocator<std::pair<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*> > > >, g2o::{anonymous}::CmpPairFirst<int, Eigen::Matrix<double, -0x00000000000000001, -0x00000000000000001>*, std::less<int> > >':
  /usr/include/c++/4.6/bits/stl_algo.h:2123: multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/graph_manager2.o: In function `GraphManager::toggleMapping(bool)':
  /home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/graph_manager2.cpp:21: multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/moc_openni_listener.o: In function `OpenNIListener::metaObject() const':
  /home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/build/src/moc_openni_listener.cxx:97: multiple definition of `corresp'
  CMakeFiles/rgbdslam.dir/src/main.o:/home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/src/main.cpp:28: first defined here
  CMakeFiles/rgbdslam.dir/src/moc_graph_manager.o: In function `GraphManager::metaObject() const':
  /home/sai/fuerte_workspace/rgbdslam_freiburg/rgbdslam/build/src ...