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ch5: fix joinMap compile error in ubuntu 20.04 #181

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ch5: fix joinMap compile error in ubuntu 20.04 #181

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keineahnung2345
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In Ubuntu 20.04, fmt is required. Also, the variable named fmt should be avoided:

  • pangolin/pangolin.h has variable named fmt, so it should be included before sophus/se3.hpp. (This solves the error showed in my first commit message)
  • change the variable named fmt to imgfmt

@keineahnung2345
Make ch5 compilable in ubuntu 20
66f75e8 
switch pangolin and sophus header to solve the following error
```
[ 25%] Built target undistortImage
[ 50%] Built target stereoVision
[ 75%] Built target imageBasics
Scanning dependencies of target joinMap
[ 87%] Building CXX object rgbd/CMakeFiles/joinMap.dir/joinMap.cpp.o
In file included from /usr/local/include/sophus/common.hpp:43,
                 from /usr/local/include/sophus/types.hpp:8,
                 from /usr/local/include/sophus/rotation_matrix.hpp:10,
                 from /usr/local/include/sophus/so3.hpp:7,
                 from /usr/local/include/sophus/se3.hpp:7,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:5:
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h: In constructor ‘pangolin::TypedImage::TypedImage(size_t, size_t, const pangolin::PixelFormat&)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h:45:34: error: expected identifier before ‘[’ token
   45 |         : Base(w,h,w*fmt.bpp/8), fmt(fmt)
      |                                  ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h:45:34: error: expected ‘{’ before ‘[’ token
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h: In constructor ‘pangolin::TypedImage::TypedImage(size_t, size_t, const pangolin::PixelFormat&, size_t)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h:50:29: error: expected identifier before ‘[’ token
   50 |         : Base(w,h, pitch), fmt(fmt)
      |                             ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h:50:29: error: expected ‘{’ before ‘[’ token
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In member function ‘void pangolin::GlTexture::Load(const pangolin::TypedImage&, bool)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: structured binding declaration cannot have type ‘pangolin::GlPixFormat’
  230 |     GlPixFormat fmt(image.fmt);
      |                 ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: note: type must be cv-qualified ‘auto’ or reference to cv-qualified ‘auto’
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: empty structured binding declaration
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: expected primary-expression before ‘struct’
  230 |     GlPixFormat fmt(image.fmt);
      |                 ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: expected ‘}’ before ‘struct’
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: ‘result’ was not declared in this scope
  230 |     GlPixFormat fmt(image.fmt);
      |                 ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: template argument 1 is invalid
  230 |     GlPixFormat fmt(image.fmt);
      |                 ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: expected ‘>’ before ‘(’ token
  230 |     GlPixFormat fmt(image.fmt);
      |                 ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: return-statement with a value, in function returning ‘void’ [-fpermissive]
  230 |     GlPixFormat fmt(image.fmt);
      |                 ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:230:17: error: expected unqualified-id before ‘)’ token
  230 |     GlPixFormat fmt(image.fmt);
      |                 ^~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:231:17: error: expected constructor, destructor, or type conversion before ‘(’ token
  231 |     Reinitialise((GLint)image.w, (GLint)image.h, GL_RGBA32F, sampling_linear, 0, fmt.glformat, fmt.gltype, image.ptr );
      |                 ^
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:234:13: error: ‘GlTexture’ has not been declared
  234 | inline void GlTexture::LoadFromFile(const std::string& filename, bool sampling_linear)
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void LoadFromFile(const string&, bool)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:236:5: error: ‘TypedImage’ was not declared in this scope; did you mean ‘pangolin::TypedImage’?
  236 |     TypedImage image = LoadImage(filename);
      |     ^~~~~~~~~~
      |     pangolin::TypedImage
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/image/image_io.h:32,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:32,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h:35:8: note: ‘pangolin::TypedImage’ declared here
   35 | struct TypedImage : public ManagedImage<unsigned char>
      |        ^~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:237:10: error: ‘image’ was not declared in this scope
  237 |     Load(image, sampling_linear);
      |          ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:237:5: error: ‘Load’ was not declared in this scope
  237 |     Load(image, sampling_linear);
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:241:13: error: ‘GlTexture’ has not been declared
  241 | inline void GlTexture::Download(void* image, GLenum data_layout, GLenum data_type) const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:241:84: error: non-member function ‘void Download(void*, GLenum, GLenum)’ cannot have cv-qualifier
  241 | inline void GlTexture::Download(void* image, GLenum data_layout, GLenum data_type) const
      |                                                                                    ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Download(void*, GLenum, GLenum)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:243:5: error: ‘Bind’ was not declared in this scope
  243 |     Bind();
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:245:5: error: ‘Unbind’ was not declared in this scope
  245 |     Unbind();
      |     ^~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:248:13: error: ‘GlTexture’ has not been declared
  248 | inline void GlTexture::Download(TypedImage& image) const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:248:33: error: variable or field ‘Download’ declared void
  248 | inline void GlTexture::Download(TypedImage& image) const
      |                                 ^~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:248:33: error: ‘TypedImage’ was not declared in this scope; did you mean ‘pangolin::TypedImage’?
  248 | inline void GlTexture::Download(TypedImage& image) const
      |                                 ^~~~~~~~~~
      |                                 pangolin::TypedImage
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/image/image_io.h:32,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:32,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h:35:8: note: ‘pangolin::TypedImage’ declared here
   35 | struct TypedImage : public ManagedImage<unsigned char>
      |        ^~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:248:45: error: ‘image’ was not declared in this scope
  248 | inline void GlTexture::Download(TypedImage& image) const
      |                                             ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:301:13: error: ‘GlTexture’ has not been declared
  301 | inline void GlTexture::CopyFrom(const GlTexture& tex)
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:301:39: error: ‘GlTexture’ does not name a type; did you mean ‘glIsTexture’?
  301 | inline void GlTexture::CopyFrom(const GlTexture& tex)
      |                                       ^~~~~~~~~
      |                                       glIsTexture
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void CopyFrom(const int&)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:303:9: error: ‘tid’ was not declared in this scope
  303 |     if(!tid || width != tex.width || height != tex.height ||
      |         ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:303:16: error: ‘width’ was not declared in this scope; did you mean ‘wcwidth’?
  303 |     if(!tid || width != tex.width || height != tex.height ||
      |                ^~~~~
      |                wcwidth
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:303:29: error: request for member ‘width’ in ‘tex’, which is of non-class type ‘const int’
  303 |     if(!tid || width != tex.width || height != tex.height ||
      |                             ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:303:38: error: ‘height’ was not declared in this scope
  303 |     if(!tid || width != tex.width || height != tex.height ||
      |                                      ^~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:303:52: error: request for member ‘height’ in ‘tex’, which is of non-class type ‘const int’
  303 |     if(!tid || width != tex.width || height != tex.height ||
      |                                                    ^~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:304:8: error: ‘internal_format’ was not declared in this scope
  304 |        internal_format != tex.internal_format)
      |        ^~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:304:31: error: request for member ‘internal_format’ in ‘tex’, which is of non-class type ‘const int’
  304 |        internal_format != tex.internal_format)
      |                               ^~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:306:26: error: request for member ‘width’ in ‘tex’, which is of non-class type ‘const int’
  306 |         Reinitialise(tex.width, tex.height, tex.internal_format, true);
      |                          ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:306:37: error: request for member ‘height’ in ‘tex’, which is of non-class type ‘const int’
  306 |         Reinitialise(tex.width, tex.height, tex.internal_format, true);
      |                                     ^~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:306:49: error: request for member ‘internal_format’ in ‘tex’, which is of non-class type ‘const int’
  306 |         Reinitialise(tex.width, tex.height, tex.internal_format, true);
      |                                                 ^~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:306:9: error: ‘Reinitialise’ was not declared in this scope
  306 |         Reinitialise(tex.width, tex.height, tex.internal_format, true);
      |         ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:309:28: error: request for member ‘tid’ in ‘tex’, which is of non-class type ‘const int’
  309 |     glCopyImageSubData(tex.tid, GL_TEXTURE_2D, 0, 0, 0, 0,
      |                            ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:310:24: error: ‘tid’ was not declared in this scope
  310 |                        tid, GL_TEXTURE_2D, 0, 0, 0, 0,
      |                        ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:311:24: error: ‘width’ was not declared in this scope; did you mean ‘wcwidth’?
  311 |                        width, height, 1);
      |                        ^~~~~
      |                        wcwidth
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:311:31: error: ‘height’ was not declared in this scope
  311 |                        width, height, 1);
      |                               ^~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:315:13: error: ‘GlTexture’ has not been declared
  315 | inline void GlTexture::Save(const std::string& filename, bool top_line_first)
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Save(const string&, bool)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:317:5: error: ‘TypedImage’ was not declared in this scope; did you mean ‘pangolin::TypedImage’?
  317 |     TypedImage image;
      |     ^~~~~~~~~~
      |     pangolin::TypedImage
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/image/image_io.h:32,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:32,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/image/typed_image.h:35:8: note: ‘pangolin::TypedImage’ declared here
   35 | struct TypedImage : public ManagedImage<unsigned char>
      |        ^~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:318:14: error: ‘image’ was not declared in this scope
  318 |     Download(image);
      |              ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:323:13: error: ‘GlTexture’ has not been declared
  323 | inline void GlTexture::SetLinear()
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void SetLinear()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:325:5: error: ‘Bind’ was not declared in this scope
  325 |     Bind();
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:328:5: error: ‘Unbind’ was not declared in this scope
  328 |     Unbind();
      |     ^~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:331:13: error: ‘GlTexture’ has not been declared
  331 | inline void GlTexture::SetNearestNeighbour()
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void SetNearestNeighbour()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:333:5: error: ‘Bind’ was not declared in this scope
  333 |     Bind();
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:336:5: error: ‘Unbind’ was not declared in this scope
  336 |     Unbind();
      |     ^~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:339:13: error: ‘GlTexture’ has not been declared
  339 | inline void GlTexture::RenderToViewport(const bool flip) const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:339:58: error: non-member function ‘void RenderToViewport(bool)’ cannot have cv-qualifier
  339 | inline void GlTexture::RenderToViewport(const bool flip) const
      |                                                          ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void RenderToViewport(bool)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:342:9: error: ‘RenderToViewportFlipY’ was not declared in this scope; did you mean ‘RenderToViewport’?
  342 |         RenderToViewportFlipY();
      |         ^~~~~~~~~~~~~~~~~~~~~
      |         RenderToViewport
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:344:26: error: too few arguments to function ‘void RenderToViewport(bool)’
  344 |         RenderToViewport();
      |                          ^
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:339:13: note: declared here
  339 | inline void GlTexture::RenderToViewport(const bool flip) const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:348:13: error: ‘GlTexture’ has not been declared
  348 | inline void GlTexture::RenderToViewport() const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:348:43: error: non-member function ‘void RenderToViewport()’ cannot have cv-qualifier
  348 | inline void GlTexture::RenderToViewport() const
      |                                           ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void RenderToViewport()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:364:5: error: ‘Bind’ was not declared in this scope
  364 |     Bind();
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:374:13: error: ‘GlTexture’ has not been declared
  374 | inline void GlTexture::RenderToViewport(Viewport tex_vp, bool flipx, bool flipy) const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:374:41: error: variable or field ‘RenderToViewport’ declared void
  374 | inline void GlTexture::RenderToViewport(Viewport tex_vp, bool flipx, bool flipy) const
      |                                         ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:374:41: error: ‘Viewport’ was not declared in this scope; did you mean ‘pangolin::Viewport’?
  374 | inline void GlTexture::RenderToViewport(Viewport tex_vp, bool flipx, bool flipy) const
      |                                         ^~~~~~~~
      |                                         pangolin::Viewport
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:30,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/display/viewport.h:37:24: note: ‘pangolin::Viewport’ declared here
   37 | struct PANGOLIN_EXPORT Viewport
      |                        ^~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:374:58: error: expected primary-expression before ‘bool’
  374 | inline void GlTexture::RenderToViewport(Viewport tex_vp, bool flipx, bool flipy) const
      |                                                          ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:374:70: error: expected primary-expression before ‘bool’
  374 | inline void GlTexture::RenderToViewport(Viewport tex_vp, bool flipx, bool flipy) const
      |                                                                      ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:408:13: error: ‘GlTexture’ has not been declared
  408 | inline void GlTexture::RenderToViewportFlipY() const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:408:48: error: non-member function ‘void RenderToViewportFlipY()’ cannot have cv-qualifier
  408 | inline void GlTexture::RenderToViewportFlipY() const
      |                                                ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void RenderToViewportFlipY()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:424:5: error: ‘Bind’ was not declared in this scope
  424 |     Bind();
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:434:13: error: ‘GlTexture’ has not been declared
  434 | inline void GlTexture::RenderToViewportFlipXFlipY() const
      |             ^~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:434:53: error: non-member function ‘void RenderToViewportFlipXFlipY()’ cannot have cv-qualifier
  434 | inline void GlTexture::RenderToViewportFlipXFlipY() const
      |                                                     ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void RenderToViewportFlipXFlipY()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:450:5: error: ‘Bind’ was not declared in this scope
  450 |     Bind();
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:462:8: error: ‘GlRenderBuffer’ does not name a type; did you mean ‘glReadBuffer’?
  462 | inline GlRenderBuffer::GlRenderBuffer()
      |        ^~~~~~~~~~~~~~
      |        glReadBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:467:8: error: ‘GlRenderBuffer’ does not name a type; did you mean ‘glReadBuffer’?
  467 | inline GlRenderBuffer::GlRenderBuffer(GLint width, GLint height, GLint internal_format )
      |        ^~~~~~~~~~~~~~
      |        glReadBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:474:13: error: ‘GlRenderBuffer’ has not been declared
  474 | inline void GlRenderBuffer::Reinitialise(GLint width, GLint height, GLint internal_format)
      |             ^~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Reinitialise(GLint, GLint, GLint)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:476:9: error: invalid use of ‘this’ in non-member function
  476 |     if( this->width != 0 ) {
      |         ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:477:38: error: ‘rbid’ was not declared in this scope
  477 |         glDeleteRenderbuffersEXT(1, &rbid);
      |                                      ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:480:5: error: invalid use of ‘this’ in non-member function
  480 |     this->width = width;
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:481:5: error: invalid use of ‘this’ in non-member function
  481 |     this->height = height;
      |     ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:482:31: error: ‘rbid’ was not declared in this scope
  482 |     glGenRenderbuffersEXT(1, &rbid);
      |                               ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:488:8: error: ‘GlRenderBuffer’ does not name a type; did you mean ‘glReadBuffer’?
  488 | inline GlRenderBuffer::~GlRenderBuffer()
      |        ^~~~~~~~~~~~~~
      |        glReadBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:525:8: error: ‘GlRenderBuffer’ does not name a type; did you mean ‘glReadBuffer’?
  525 | inline GlRenderBuffer::GlRenderBuffer(GlRenderBuffer&& tex)
      |        ^~~~~~~~~~~~~~
      |        glReadBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:533:8: error: ‘GlFramebuffer’ does not name a type; did you mean ‘glIsFramebuffer’?
  533 | inline GlFramebuffer::GlFramebuffer()
      |        ^~~~~~~~~~~~~
      |        glIsFramebuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:538:8: error: ‘GlFramebuffer’ does not name a type; did you mean ‘glIsFramebuffer’?
  538 | inline GlFramebuffer::~GlFramebuffer()
      |        ^~~~~~~~~~~~~
      |        glIsFramebuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:545:8: error: ‘GlFramebuffer’ does not name a type; did you mean ‘glIsFramebuffer’?
  545 | inline GlFramebuffer::GlFramebuffer(GlTexture& colour, GlRenderBuffer& depth)
      |        ^~~~~~~~~~~~~
      |        glIsFramebuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:554:8: error: ‘GlFramebuffer’ does not name a type; did you mean ‘glIsFramebuffer’?
  554 | inline GlFramebuffer::GlFramebuffer(GlTexture& colour0, GlTexture& colour1, GlRenderBuffer& depth)
      |        ^~~~~~~~~~~~~
      |        glIsFramebuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:564:8: error: ‘GlFramebuffer’ does not name a type; did you mean ‘glIsFramebuffer’?
  564 | inline GlFramebuffer::GlFramebuffer(GlTexture& colour0, GlTexture& colour1, GlTexture& colour2, GlRenderBuffer& depth)
      |        ^~~~~~~~~~~~~
      |        glIsFramebuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:575:8: error: ‘GlFramebuffer’ does not name a type; did you mean ‘glIsFramebuffer’?
  575 | inline GlFramebuffer::GlFramebuffer(GlTexture& colour0, GlTexture& colour1, GlTexture& colour2, GlTexture& colour3, GlRenderBuffer& depth)
      |        ^~~~~~~~~~~~~
      |        glIsFramebuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:587:13: error: ‘GlFramebuffer’ has not been declared
  587 | inline void GlFramebuffer::Bind() const
      |             ^~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:587:35: error: non-member function ‘void Bind()’ cannot have cv-qualifier
  587 | inline void GlFramebuffer::Bind() const
      |                                   ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Bind()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:589:46: error: ‘fbid’ was not declared in this scope
  589 |     glBindFramebufferEXT(GL_FRAMEBUFFER_EXT, fbid);
      |                                              ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:591:20: error: ‘attachments’ was not declared in this scope
  591 |     glDrawBuffers( attachments, attachment_buffers );
      |                    ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:591:33: error: ‘attachment_buffers’ was not declared in this scope; did you mean ‘pangolin::attachment_buffers’?
  591 |     glDrawBuffers( attachments, attachment_buffers );
      |                                 ^~~~~~~~~~~~~~~~~~
      |                                 pangolin::attachment_buffers
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:46:21: note: ‘pangolin::attachment_buffers’ declared here
   46 | const static GLuint attachment_buffers[] = {
      |                     ^~~~~~~~~~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:595:13: error: ‘GlFramebuffer’ has not been declared
  595 | inline void GlFramebuffer::Reinitialise()
      |             ^~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Reinitialise()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:597:8: error: ‘fbid’ was not declared in this scope
  597 |     if(fbid) {
      |        ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:600:30: error: ‘fbid’ was not declared in this scope
  600 |     glGenFramebuffersEXT(1, &fbid);
      |                              ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:603:13: error: ‘GlFramebuffer’ has not been declared
  603 | inline void GlFramebuffer::Unbind() const
      |             ^~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:603:37: error: non-member function ‘void Unbind()’ cannot have cv-qualifier
  603 | inline void GlFramebuffer::Unbind() const
      |                                     ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Unbind()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:606:23: error: ‘attachment_buffers’ was not declared in this scope; did you mean ‘pangolin::attachment_buffers’?
  606 |     glDrawBuffers( 1, attachment_buffers );
      |                       ^~~~~~~~~~~~~~~~~~
      |                       pangolin::attachment_buffers
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:46:21: note: ‘pangolin::attachment_buffers’ declared here
   46 | const static GLuint attachment_buffers[] = {
      |                     ^~~~~~~~~~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:611:15: error: ‘GlFramebuffer’ has not been declared
  611 | inline GLenum GlFramebuffer::AttachColour(GlTexture& tex )
      |               ^~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:611:43: error: ‘GlTexture’ was not declared in this scope; did you mean ‘pangolin::GlTexture’?
  611 | inline GLenum GlFramebuffer::AttachColour(GlTexture& tex )
      |                                           ^~~~~~~~~
      |                                           pangolin::GlTexture
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:53:23: note: ‘pangolin::GlTexture’ declared here
   53 | class PANGOLIN_EXPORT GlTexture
      |                       ^~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:611:54: error: ‘tex’ was not declared in this scope; did you mean ‘timex’?
  611 | inline GLenum GlFramebuffer::AttachColour(GlTexture& tex )
      |                                                      ^~~
      |                                                      timex
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:624:13: error: ‘GlFramebuffer’ has not been declared
  624 | inline void GlFramebuffer::AttachDepth(GlRenderBuffer& rb )
      |             ^~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:624:40: error: variable or field ‘AttachDepth’ declared void
  624 | inline void GlFramebuffer::AttachDepth(GlRenderBuffer& rb )
      |                                        ^~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:624:40: error: ‘GlRenderBuffer’ was not declared in this scope; did you mean ‘pangolin::GlRenderBuffer’?
  624 | inline void GlFramebuffer::AttachDepth(GlRenderBuffer& rb )
      |                                        ^~~~~~~~~~~~~~
      |                                        pangolin::GlRenderBuffer
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:124:24: note: ‘pangolin::GlRenderBuffer’ declared here
  124 | struct PANGOLIN_EXPORT GlRenderBuffer
      |                        ^~~~~~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:624:56: error: ‘rb’ was not declared in this scope
  624 | inline void GlFramebuffer::AttachDepth(GlRenderBuffer& rb )
      |                                                        ^~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:642:8: error: ‘GlBufferData’ does not name a type; did you mean ‘glBufferData’?
  642 | inline GlBufferData::GlBufferData()
      |        ^~~~~~~~~~~~
      |        glBufferData
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:647:8: error: ‘GlBufferData’ does not name a type; did you mean ‘glBufferData’?
  647 | inline GlBufferData::GlBufferData(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse, const unsigned char* data )
      |        ^~~~~~~~~~~~
      |        glBufferData
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:654:8: error: ‘GlBufferData’ does not name a type; did you mean ‘glBufferData’?
  654 | inline GlBufferData::GlBufferData(GlBufferData&& tex)
      |        ^~~~~~~~~~~~
      |        glBufferData
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:659:8: error: ‘GlBufferData’ does not name a type; did you mean ‘glBufferData’?
  659 | inline GlBufferData& GlBufferData::operator=(GlBufferData&& tex)
      |        ^~~~~~~~~~~~
      |        glBufferData
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:670:8: error: ‘GlBufferData’ does not name a type; did you mean ‘glBufferData’?
  670 | inline GlBufferData::~GlBufferData()
      |        ^~~~~~~~~~~~
      |        glBufferData
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:675:13: error: ‘GlBufferData’ has not been declared
  675 | inline void GlBufferData::Free()
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Free()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:677:8: error: ‘bo’ was not declared in this scope
  677 |     if(bo!=0) {
      |        ^~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:682:13: error: ‘GlBufferData’ has not been declared
  682 | inline bool GlBufferData::IsValid() const
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:682:37: error: non-member function ‘bool IsValid()’ cannot have cv-qualifier
  682 | inline bool GlBufferData::IsValid() const
      |                                     ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘bool IsValid()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:684:12: error: ‘bo’ was not declared in this scope
  684 |     return bo != 0;
      |            ^~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:687:15: error: ‘GlBufferData’ has not been declared
  687 | inline size_t GlBufferData::SizeBytes() const
      |               ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:687:41: error: non-member function ‘size_t SizeBytes()’ cannot have cv-qualifier
  687 | inline size_t GlBufferData::SizeBytes() const
      |                                         ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘size_t SizeBytes()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:689:12: error: ‘size_bytes’ was not declared in this scope; did you mean ‘SizeBytes’?
  689 |     return size_bytes;
      |            ^~~~~~~~~~
      |            SizeBytes
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:692:13: error: ‘GlBufferData’ has not been declared
  692 | inline void GlBufferData::Reinitialise(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse, const unsigned char* data )
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:692:40: error: variable or field ‘Reinitialise’ declared void
  692 | inline void GlBufferData::Reinitialise(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse, const unsigned char* data )
      |                                        ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:692:40: error: ‘GlBufferType’ was not declared in this scope; did you mean ‘pangolin::GlBufferType’?
  692 | inline void GlBufferData::Reinitialise(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse, const unsigned char* data )
      |                                        ^~~~~~~~~~~~
      |                                        pangolin::GlBufferType
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:171:6: note: ‘pangolin::GlBufferType’ declared here
  171 | enum GlBufferType
      |      ^~~~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:692:73: error: expected primary-expression before ‘size_bytes’
  692 | inline void GlBufferData::Reinitialise(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse, const unsigned char* data )
      |                                                                         ^~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:692:92: error: expected primary-expression before ‘gluse’
  692 | inline void GlBufferData::Reinitialise(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse, const unsigned char* data )
      |                                                                                            ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:692:99: error: expected primary-expression before ‘const’
  692 | inline void GlBufferData::Reinitialise(GlBufferType buffer_type, GLuint size_bytes, GLenum gluse, const unsigned char* data )
      |                                                                                                   ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:707:13: error: ‘GlBufferData’ has not been declared
  707 | inline void GlBufferData::Bind() const
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:707:34: error: non-member function ‘void Bind()’ cannot have cv-qualifier
  707 | inline void GlBufferData::Bind() const
      |                                  ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:707:13: error: redefinition of ‘void Bind()’
  707 | inline void GlBufferData::Bind() const
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:587:13: note: ‘void Bind()’ previously defined here
  587 | inline void GlFramebuffer::Bind() const
      |             ^~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Bind()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:709:18: error: ‘buffer_type’ was not declared in this scope
  709 |     glBindBuffer(buffer_type, bo);
      |                  ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:709:31: error: ‘bo’ was not declared in this scope
  709 |     glBindBuffer(buffer_type, bo);
      |                               ^~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:712:13: error: ‘GlBufferData’ has not been declared
  712 | inline void GlBufferData::Unbind() const
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:712:36: error: non-member function ‘void Unbind()’ cannot have cv-qualifier
  712 | inline void GlBufferData::Unbind() const
      |                                    ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:712:13: error: redefinition of ‘void Unbind()’
  712 | inline void GlBufferData::Unbind() const
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:603:13: note: ‘void Unbind()’ previously defined here
  603 | inline void GlFramebuffer::Unbind() const
      |             ^~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Unbind()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:714:18: error: ‘buffer_type’ was not declared in this scope
  714 |     glBindBuffer(buffer_type, 0);
      |                  ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:717:13: error: ‘GlBufferData’ has not been declared
  717 | inline void GlBufferData::Upload(const GLvoid* data, GLsizeiptr size_bytes, GLintptr offset)
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Upload(const GLvoid*, GLsizeiptr, GLintptr)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:719:30: error: invalid use of ‘this’ in non-member function
  719 |     if(offset + size_bytes > this->size_bytes) {
      |                              ^~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:724:21: error: ‘buffer_type’ was not declared in this scope
  724 |     glBufferSubData(buffer_type,offset,size_bytes,data);
      |                     ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:728:13: error: ‘GlBufferData’ has not been declared
  728 | inline void GlBufferData::Download(GLvoid* data, GLsizeiptr size_bytes, GLintptr offset) const
      |             ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:728:90: error: non-member function ‘void Download(GLvoid*, GLsizeiptr, GLintptr)’ cannot have cv-qualifier
  728 | inline void GlBufferData::Download(GLvoid* data, GLsizeiptr size_bytes, GLintptr offset) const
      |                                                                                          ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Download(GLvoid*, GLsizeiptr, GLintptr)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:731:24: error: ‘buffer_type’ was not declared in this scope
  731 |     glGetBufferSubData(buffer_type, offset, size_bytes, data);
      |                        ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:737:8: error: ‘GlBuffer’ does not name a type; did you mean ‘glIsBuffer’?
  737 | inline GlBuffer::GlBuffer()
      |        ^~~~~~~~
      |        glIsBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:742:8: error: ‘GlBuffer’ does not name a type; did you mean ‘glIsBuffer’?
  742 | inline GlBuffer::GlBuffer(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse )
      |        ^~~~~~~~
      |        glIsBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:749:8: error: ‘GlBuffer’ does not name a type; did you mean ‘glIsBuffer’?
  749 | inline GlBuffer::GlBuffer(GlBuffer&& o)
      |        ^~~~~~~~
      |        glIsBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:755:8: error: ‘GlBuffer’ does not name a type; did you mean ‘glIsBuffer’?
  755 | inline GlBuffer& GlBuffer::operator=(GlBuffer&& o)
      |        ^~~~~~~~
      |        glIsBuffer
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:13: error: ‘GlBuffer’ has not been declared
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |             ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:36: error: variable or field ‘Reinitialise’ declared void
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |                                    ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:36: error: ‘GlBufferType’ was not declared in this scope; did you mean ‘pangolin::GlBufferType’?
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |                                    ^~~~~~~~~~~~
      |                                    pangolin::GlBufferType
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:171:6: note: ‘pangolin::GlBufferType’ declared here
  171 | enum GlBufferType
      |      ^~~~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:69: error: expected primary-expression before ‘num_elements’
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |                                                                     ^~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:90: error: expected primary-expression before ‘datatype’
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |                                                                                          ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:107: error: expected primary-expression before ‘count_per_element’
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |                                                                                                           ^~~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:133: error: expected primary-expression before ‘gluse’
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |                                                                                                                                     ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:764:140: error: expected primary-expression before ‘const’
  764 | inline void GlBuffer::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse, const unsigned char* data )
      |                                                                                                                                            ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:773:13: error: ‘GlBuffer’ has not been declared
  773 | inline void GlBuffer::Reinitialise(GlBuffer const& other )
      |             ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:773:45: error: variable or field ‘Reinitialise’ declared void
  773 | inline void GlBuffer::Reinitialise(GlBuffer const& other )
      |                                             ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:773:36: error: ‘GlBuffer’ was not declared in this scope; did you mean ‘pangolin::GlBuffer’?
  773 | inline void GlBuffer::Reinitialise(GlBuffer const& other )
      |                                    ^~~~~~~~
      |                                    pangolin::GlBuffer
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:218:24: note: ‘pangolin::GlBuffer’ declared here
  218 | struct PANGOLIN_EXPORT GlBuffer : public GlBufferData
      |                        ^~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:778:13: error: ‘GlBuffer’ has not been declared
  778 | inline void GlBuffer::Resize(GLuint new_num_elements)
      |             ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Resize(GLuint)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:780:8: error: ‘bo’ was not declared in this scope
  780 |     if(bo!=0) {
      |        ^~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:783:66: error: ‘num_elements’ was not declared in this scope; did you mean ‘new_num_elements’?
  783 |         const size_t backup_elements = std::min(new_num_elements,num_elements);
      |                                                                  ^~~~~~~~~~~~
      |                                                                  new_num_elements
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:784:74: error: ‘datatype’ was not declared in this scope
  784 |         const size_t backup_size_bytes = backup_elements*GlDataTypeBytes(datatype)*count_per_element;
      |                                                                          ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:784:58: error: ‘GlDataTypeBytes’ was not declared in this scope; did you mean ‘pangolin::GlDataTypeBytes’?
  784 |         const size_t backup_size_bytes = backup_elements*GlDataTypeBytes(datatype)*count_per_element;
      |                                                          ^~~~~~~~~~~~~~~
      |                                                          pangolin::GlDataTypeBytes
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:88:15: note: ‘pangolin::GlDataTypeBytes’ declared here
   88 | inline size_t GlDataTypeBytes(GLenum type)
      |               ^~~~~~~~~~~~~~~
In file included from /home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.h:273,
                 from /home/ubt/Documents/installation/Pangolin/include/pangolin/pangolin.h:33,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:6:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:784:84: error: ‘count_per_element’ was not declared in this scope
  784 |         const size_t backup_size_bytes = backup_elements*GlDataTypeBytes(datatype)*count_per_element;
      |                                                                                    ^~~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:787:28: error: ‘buffer_type’ was not declared in this scope
  787 |         glGetBufferSubData(buffer_type, 0, backup_size_bytes, backup);
      |                            ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:788:100: error: ‘gluse’ was not declared in this scope
  788 |         glBufferData(buffer_type, new_num_elements*GlDataTypeBytes(datatype)*count_per_element, 0, gluse);
      |                                                                                                    ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:796:22: error: ‘buffer_type’ was not declared in this scope
  796 |         Reinitialise(buffer_type, new_num_elements, datatype, count_per_element, gluse);
      |                      ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:796:53: error: ‘datatype’ was not declared in this scope
  796 |         Reinitialise(buffer_type, new_num_elements, datatype, count_per_element, gluse);
      |                                                     ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:796:63: error: ‘count_per_element’ was not declared in this scope
  796 |         Reinitialise(buffer_type, new_num_elements, datatype, count_per_element, gluse);
      |                                                               ^~~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:796:82: error: ‘gluse’ was not declared in this scope
  796 |         Reinitialise(buffer_type, new_num_elements, datatype, count_per_element, gluse);
      |                                                                                  ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:798:5: error: ‘num_elements’ was not declared in this scope; did you mean ‘new_num_elements’?
  798 |     num_elements = new_num_elements;
      |     ^~~~~~~~~~~~
      |     new_num_elements
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:804:8: error: ‘GlSizeableBuffer’ does not name a type
  804 | inline GlSizeableBuffer::GlSizeableBuffer(GlBufferType buffer_type, GLuint initial_num_elements, GLenum datatype, GLuint count_per_element, GLenum gluse )
      |        ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:810:13: error: ‘GlSizeableBuffer’ has not been declared
  810 | inline void GlSizeableBuffer::Clear()
      |             ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Clear()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:812:5: error: ‘m_num_verts’ was not declared in this scope
  812 |     m_num_verts = 0;
      |     ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:817:6: error: ‘GlSizeableBuffer’ has not been declared
  817 | void GlSizeableBuffer::Add(const Eigen::DenseBase<Derived>& vec)
      |      ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Add(const Eigen::DenseBase<Derived>&)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:821:17: error: ‘m_num_verts’ was not declared in this scope
  821 |     CheckResize(m_num_verts + 1);
      |                 ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:821:5: error: there are no arguments to ‘CheckResize’ that depend on a template parameter, so a declaration of ‘CheckResize’ must be available [-fpermissive]
  821 |     CheckResize(m_num_verts + 1);
      |     ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:821:5: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:829:6: error: ‘GlSizeableBuffer’ has not been declared
  829 | void GlSizeableBuffer::Update(const Eigen::DenseBase<Derived>& vec, size_t position )
      |      ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void Update(const Eigen::DenseBase<Derived>&, size_t)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:837:5: error: ‘m_num_verts’ was not declared in this scope
  837 |     m_num_verts = std::max(position+vec.cols(), m_num_verts);
      |     ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:841:15: error: ‘GlSizeableBuffer’ has not been declared
  841 | inline size_t GlSizeableBuffer::start() const {
      |               ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:841:41: error: non-member function ‘size_t start()’ cannot have cv-qualifier
  841 | inline size_t GlSizeableBuffer::start() const {
      |                                         ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:845:15: error: ‘GlSizeableBuffer’ has not been declared
  845 | inline size_t GlSizeableBuffer::size() const {
      |               ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:845:40: error: non-member function ‘size_t size()’ cannot have cv-qualifier
  845 | inline size_t GlSizeableBuffer::size() const {
      |                                        ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘size_t size()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:846:12: error: ‘m_num_verts’ was not declared in this scope
  846 |     return m_num_verts;
      |            ^~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:849:13: error: ‘GlSizeableBuffer’ has not been declared
  849 | inline void GlSizeableBuffer::CheckResize(size_t num_verts)
      |             ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘void CheckResize(size_t)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:851:21: error: ‘GlBuffer’ has not been declared
  851 |     if( num_verts > GlBuffer::num_elements) {
      |                     ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:852:33: error: ‘NextSize’ was not declared in this scope
  852 |         const size_t new_size = NextSize(num_verts);
      |                                 ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:853:9: error: ‘GlBuffer’ has not been declared
  853 |         GlBuffer::Resize((GLuint)new_size);
      |         ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:857:15: error: ‘GlSizeableBuffer’ has not been declared
  857 | inline size_t GlSizeableBuffer::NextSize(size_t min_size) const
      |               ^~~~~~~~~~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:857:59: error: non-member function ‘size_t NextSize(size_t)’ cannot have cv-qualifier
  857 | inline size_t GlSizeableBuffer::NextSize(size_t min_size) const
      |                                                           ^~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: In function ‘size_t NextSize(size_t)’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:859:32: error: ‘GlBuffer’ has not been declared
  859 |     size_t new_size = std::max(GlBuffer::num_elements, 1u);
      |                                ^~~~~~~~
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp: At global scope:
/home/ubt/Documents/installation/Pangolin/include/pangolin/gl/gl.hpp:866:1: error: expected declaration before ‘}’ token
  866 | }
      | ^
In file included from /usr/local/include/sophus/common.hpp:43,
                 from /usr/local/include/sophus/types.hpp:8,
                 from /usr/local/include/sophus/rotation_matrix.hpp:10,
                 from /usr/local/include/sophus/so3.hpp:7,
                 from /usr/local/include/sophus/se3.hpp:7,
                 from /home/ubt/Documents/SLAMCourse/slambook2/ch5/rgbd/joinMap.cpp:5:
/home/ubt/Documents/installation/Pangolin/include/pangolin/video/stream_info.h: In constructor ‘pangolin::StreamInfo::StreamInfo()’:
/home/ubt/Documents/installation/Pangolin/include/pangolin/video/stream_info.h:39:11: error: expected identifier before ‘[’ token
   39 |         : fmt(PixelFormatFromString("GRAY8")) {}
      |           ^~~
/home/ubt/Documents/installation/Pangolin/include/pangolin…
@keineahnung2345
make fmt::fmt optional
ed0d9a3
@xmba15
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xmba15 commented Nov 16, 2021

@keineahnung2345 I think this can be solved by adding Sophus library as Sophus::Sophus instead of ${Sophus_INCLUDE_DIRS}.

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2 participants
@keineahnung2345 @xmba15