rgbdslam_v2 on Tegra TK1 build error

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Hi ,

My ros version is Indigo base on Ubuntu 14.04 and hardware is using Nvidia TK1. I follow this web http://felixendres.github.io/rgbdslam... to install rgbdslam_v2 but something error when building.

Here log shows

====================[ error message ]=====================

/home/ubuntu/catkin_ws/src/rgbdslam_v2/src/glviewer.cpp: In member function 'void GLViewer::drawOneCloud(int)': /home/ubuntu/catkin_ws/src/rgbdslam_v2/src/glviewer.cpp:341:75: error: invalid static_cast from type 'qreal* {aka float}' to type 'GLdouble {aka double}' glMultMatrixd(static_cast<gldouble*>( (cloud_matrices)[i].data() ));//works as long as qreal and GLdouble are typedefs to double (might depend on hardware) ^ /home/ubuntu/catkin_ws/src/rgbdslam_v2/src/glviewer.cpp: In member function 'void GLViewer::drawClouds(float)': /home/ubuntu/catkin_ws/src/rgbdslam_v2/src/glviewer.cpp:377:64: error: invalid static_cast from type 'qreal* {aka float}' to type 'GLdouble {aka double}' glMultMatrixd(static_cast<gldouble*>( viewpoint_tf_.data() ));//works as long as qreal and GLdouble are typedefs to double (might depend on hardware) ^ /home/ubuntu/catkin_ws/src/rgbdslam_v2/src/glviewer.cpp:416:75: error: invalid static_cast from type 'qreal {aka float}' to type 'GLdouble {aka double}' glMultMatrixd(static_cast<gldouble*>( (cloud_matrices)[i].data() ));//works as long as qreal and GLdouble are typedefs to double (might depend on hardware) ^ make[2]: * [rgbdslam_v2/CMakeFiles/rgbdslam.dir/src/glviewer.o] Error 1 make[1]: [rgbdslam_v2/CMakeFiles/rgbdslam.dir/all] Error 2 make: ** [all] Error 2

====================[ error message ]=====================

and if I swap glviewer.cpp with glviewer2.cpp in cmakelist.txt. it still shows error.

====================[ error message ]=====================

/home/ubuntu/catkin_ws/src/rgbdslam_v2/src/glviewer2.cpp: In constructor 'GLViewer::GLViewer(QWidget)': /home/ubuntu/catkin_ws/src/rgbdslam_v2/src/glviewer2.cpp:20:39: error: type 'QWidget' is not a direct base of 'GLViewer' GLViewer::GLViewer(QWidget parent) : QWidget(parent) { } ^ make[2]: * [rgbdslam_v2/CMakeFiles/rgbdslam.dir/src/glviewer2.o] Error 1 make[1]: * [rgbdslam_v2/CMakeFiles/rgbdslam.dir/all] Error 2

make: * [all] Error 2

====================[ error message ]=====================

I also ask on github. But it seems nobody answer that. https://github.com/felixendres/rgbdsl...

I am studying rgbd slam. Could anyone give me some advise?

Thanks a lot!!