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HKUST-Aerial-Robotics / ESVO

This repository maintains the implementation of "Event-based Stereo Visual Odometry".
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changes to work on Ubuntu 20.04 ROS Noetic OpenCV 4 #10

Closed ghoshsuman closed 3 years ago

ghoshsuman commented 3 years ago

I made changes based on the following errors I encountered:

  1. PCL couldn't recognize std=c++14.
  2. QByteArray() in the rqt perspective file couldn't find a matching signature for the string parameter.
  3. OpenCV 4 wasn't accepting macros like CV_FILLED, CV_LINEAR_INTERPOLATE etc. They were also causing problems with OpenCV 3.4.1.
  4. ESVO tracker was crashing at runtime with double free or corruption ( out) error. Following a closed issue on your repo, I added return statements to some non-void functions to resolve it.
Ethan-Zhou commented 3 years ago

Hi @ghoshsuman ,

Thanks for your contribution. I have tested it locally and it works well on my side (Ubuntu 18.04.5 LTS + ROS melodic + OpenCV 3.2). Regarding the first modification, i.e. std=c++14, I noticed that SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3") remains in the 10th line of esvo_core's CMakeLists.txt. Could you please remove this but have the "-O3" option preserved? Also, please make things be consistent in esvo_time_surface's CMakeLists.txt (I mean to replace std=c++11 with c++14 there as well, just in case).

Then please update the pull request such that I can merge.

Cheers,

yi

ghoshsuman commented 3 years ago

Updated the PR. Please check @Ethan-Zhou .

Ethan-Zhou commented 3 years ago

The master branch has been merged with this pull request locally, tested and pushed to the remote. So I close it here.