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CIFASIS / dense-sptam

Dense S-PTAM
GNU General Public License v3.0
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No /dense/dense-map published #6

Closed BeatScherrer closed 5 years ago

BeatScherrer commented 5 years ago

I am trying to run the dense-sptam to create a dense local map with your docker.sh script.

./docker.sh run
cd /usr/src/dense-sptam
source devel/setup.bash

Then I run the dense-ptam as follows:

roslaunch dense kitti.launch & rosbag play kitti.bag

as you propose in your README file. I then cannot run rviz inside the docker container. It gives me the following error:

[ INFO] [1562584563.967351185]: rviz version 1.12.17
[ INFO] [1562584563.967409455]: compiled against Qt version 5.5.1
[ INFO] [1562584563.967424945]: compiled against OGRE version 1.9.0 (Ghadamon)
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Segmentation fault (core dumped)

When running rviz outside of the docker container the sparse point clouds are visible but the /dense/dense-cloud is not visible such as no messages come in when trying to echo them with rostopic echo /dense/dense-cloud/

Further the output directory is not mounted in the docker.sh file, which would be a good idea since it is the default output. Also no data is written to the the directory /dense/output_dir/ which i made sure exists.

I use ros melodic and ubuntu 18.04 on my host system. But the message should be published nevertheless since it runs inside the docker container.

BeatScherrer commented 5 years ago

I managed to find the cause to the main issue: I did not checkout the appropriate commit on the sptam repo. It's now working on the kitti dataset.