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HarborC / PL-SLAM

PL-SLAM: The method is implemented in《PL-SLAM:Real-time Monocular Visual SLAM with Points and Lines》
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运行错误 #2

Closed runwithyourheart closed 2 years ago

runwithyourheart commented 4 years ago

你好，我编译完你的程序后，运行时出现以下错误，请问有什么解决的建议吗？谢谢 OpenCV Error: Bad argument (Mask error while detecting lines: please check its dimensions and that data type is CV_8UC1) in detect, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/opencv_contrib/line_descriptor/src/LSDDetector.cpp, line 107 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/opencv_contrib/line_descriptor/src/LSDDetector.cpp:107: error: (-5) Mask error while detecting lines: please check its dimensions and that data type is CV_8UC1 in function detect

已放弃 (核心已转储)

HarborC commented 4 years ago

有可能是设定掩膜那里有问题，大概在Tracking.cc当中， image

runwithyourheart commented 4 years ago

有可能是设定掩膜那里有问题，大概在Tracking.cc当中， image

好的，谢谢，我再看看代码！

yanmengting117 commented 4 years ago

我也遇到了这个问题，请问你解决了吗

HarborC commented 4 years ago

你需要检查mask的大小和你的影像大小是否一致

---原始邮件--- 发件人: "yanmengting117"<notifications@github.com> 发送时间: 2019年11月8日 16:04:07 收件人: "HarborC/PL-SLAM"<PL-SLAM@noreply.github.com>; 抄送: "Comment"<comment@noreply.github.com>;"HarborChen"<1391586089@qq.com>; 主题: Re: [HarborC/PL-SLAM] 运行错误 (#2)

我也遇到了这个问题，请问你解决了吗

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

runwithyourheart commented 4 years ago

我也遇到了这个问题，请问你解决了吗

你需要检查mask的大小和你的影像大小是否一致 … ---原始邮件--- 发件人: "yanmengting117"<notifications@github.com> 发送时间: 2019年11月8日 16:04:07 收件人: "HarborC/PL-SLAM"<PL-SLAM@noreply.github.com>; 抄送: "Comment"<comment@noreply.github.com>;"HarborChen"<1391586089@qq.com>; 主题: Re: [HarborC/PL-SLAM] 运行错误 (#2) 我也遇到了这个问题，请问你解决了吗 — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

读取的mask可能和跑的数据集的图片大小不一致，把mask的尺寸改成和数据集一样就可以了。另外我想问一下博主我跑euroc第一个数据集，跑出来的rmse已经到了0.9多，请问效果不好会不会是因为线的误匹配比较多，或者是其他什么原因？谢谢

HarborC commented 4 years ago

存在误匹配，但是线特征自身的精度不高的影响也比较大

---原始邮件--- 发件人: "runwithyourheart"<notifications@github.com> 发送时间: 2019年11月8日 21:04:41 收件人: "HarborC/PL-SLAM"<PL-SLAM@noreply.github.com>; 抄送: "Comment"<comment@noreply.github.com>;"HarborChen"<1391586089@qq.com>; 主题: Re: [HarborC/PL-SLAM] 运行错误 (#2)

我也遇到了这个问题，请问你解决了吗

你需要检查mask的大小和你的影像大小是否一致 … ---原始邮件--- 发件人: "yanmengting117"<notifications@github.com> 发送时间: 2019年11月8日 16:04:07 收件人: "HarborC/PL-SLAM"<PL-SLAM@noreply.github.com>; 抄送: "Comment"<comment@noreply.github.com>;"HarborChen"<1391586089@qq.com>; 主题: Re: [HarborC/PL-SLAM] 运行错误 (#2) 我也遇到了这个问题，请问你解决了吗 — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

读取的mask可能和跑的数据集的图片大小不一致，把mask的尺寸改成和数据集一样就可以了。另外我想问一下博主我跑euroc第一个数据集，跑出来的rmse已经到了0.9多，请问效果不好会不会是因为线的误匹配比较多，或者是其他什么原因？谢谢

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

yanmengting117 commented 4 years ago

OpenCV Error: Assertion failed (_map1.size().area() > 0) in remap, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgproc/src/imgwarp.cpp, line 1728 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgproc/src/imgwarp.cpp:1728: error: (-215) _map1.size().area() > 0 in function remap

你好，请问您是否知道出现这种错误是什么原因呢？

wangq0688 commented 4 years ago

In file included from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:37:0, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37, from /home/wq/PL-SLAM-master/include/Converter.h:27, from /home/wq/PL-SLAM-master/src/Converter.cc:22: /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:26: fatal error: ../../config.h: 没有那个文件或目录

你好,在编译是一直卡在这,请问你知道原因吗?

HarborC commented 4 years ago

你看他说的这个文件还在么原处么?问题在g2o感觉

---原始邮件--- 发件人: "wangq0688"<notifications@github.com> 发送时间: 2020年1月6日 15:58:43 收件人: "HarborC/PL-SLAM"<PL-SLAM@noreply.github.com>; 抄送: "Comment"<comment@noreply.github.com>;"JIAGANG CHEN"<1391586089@qq.com>; 主题: Re: [HarborC/PL-SLAM] 运行错误 (#2)

In file included from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:37:0, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37, from /home/wq/PL-SLAM-master/include/Converter.h:27, from /home/wq/PL-SLAM-master/src/Converter.cc:22: /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:26: fatal error: ../../config.h: 没有那个文件或目录

你好,在编译是一直卡在这,请问你知道原因吗?

— You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

wangq0688 commented 4 years ago

In file included from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:37:0, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37, from /home/wq/PL-SLAM-master/include/Converter.h:27, from /home/wq/PL-SLAM-master/src/Converter.cc:22: /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:26: fatal error: ../../config.h: 没有那个文件或目录

你好,在编译是一直卡在这,请问你知道原因吗?

你看他说的这个文件还在么原处么?问题在g2o感觉 … ---原始邮件--- 发件人: "wangq0688"<notifications@github.com> 发送时间: 2020年1月6日 15:58:43 收件人: "HarborC/PL-SLAM"<PL-SLAM@noreply.github.com>; 抄送: "Comment"<comment@noreply.github.com>;"JIAGANG CHEN"<1391586089@qq.com>; 主题: Re: [HarborC/PL-SLAM] 运行错误 (#2) In file included from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:37:0, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37, from /home/wq/PL-SLAM-master/include/Converter.h:27, from /home/wq/PL-SLAM-master/src/Converter.cc:22: /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:26: fatal error: ../../config.h: 没有那个文件或目录 你好,在编译是一直卡在这,请问你知道原因吗? — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

但是 /PL-SLAM-master/Thirdparty/g2o 路径下只有 config.h.in 本来就没有这个文件,重命名后会出现 /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/../../config.h:4:2: error: invalid preprocessing directive #cmakedefine

cmakedefine G2O_OPENMP 1

^ /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/../../config.h:5:2: error: invalid preprocessing directive #cmakedefine

cmakedefine G2O_SHARED_LIBS 1

^

wangq0688 commented 4 years ago

多谢,我解决问题了

HarborC commented 4 years ago

好的

yanfeng-tang commented 4 years ago

/home/tangyf/PL-SLAM/include/auxiliar.h:13:50: fatal error: opencv2/line_descriptor/descriptor.hpp: 没有那个文件或目录 请问这个问题该怎么解决了,谢谢

HarborC commented 4 years ago

安装opencv的时候，把opencv_contrib也安装上，line_descriptor的包，在opencv_contrib里面

fengchen122959 commented 3 years ago

编译卡在这里几天了，有解决办法么 我的eigen 版本是3.2.9，用的旧版g2o /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:30:64: error: type/value mismatch at argument 4 in template parameter list for ‘template<class Derived, class Scalar, class OtherScalar, bool EnableIt> struct Eigen::internal::special_scalar_op_base’ EigenBase > ^ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:30:64: note: expected a constant of type ‘bool’, got ‘Eigen::EigenBase’ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:143:94: error: type/value mismatch at argument 4 in template parameter list for ‘template<class Derived, class Scalar, class OtherScalar, bool EnableIt> struct Eigen::internal::special_scalar_op_base’ typedef internal::special_scalar_op_base<Derived, Scalar, RealScalar, EigenBase > Base; ^ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:143:94: note: expected a constant of type ‘bool’, got ‘Eigen::EigenBase’ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:144:11: error: ‘Base’ is not a class, namespace, or enumeration using Base::operator*;

fengchen122959 commented 3 years ago

In file included from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:37:0, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37, from /home/wq/PL-SLAM-master/include/Converter.h:27, from /home/wq/PL-SLAM-master/src/Converter.cc:22: /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:26: fatal error: ../../config.h: 没有那个文件或目录 你好,在编译是一直卡在这,请问你知道原因吗?

你看他说的这个文件还在么原处么?问题在g2o感觉 … ---原始邮件--- 发件人: "wangq0688"[notifications@github.com](mailto:notifications@github.com) 发送时间: 2020年1月6日 15:58:43 收件人: "HarborC/PL-SLAM"[PL-SLAM@noreply.github.com](mailto:PL-SLAM@noreply.github.com); 抄送: "Comment"[comment@noreply.github.com](mailto:comment@noreply.github.com);"JIAGANG CHEN"[1391586089@qq.com](mailto:1391586089@qq.com); 主题: Re: [HarborC/PL-SLAM] 运行错误 (#2) In file included from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:37:0, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/base_vertex.h:30, from /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/types_six_dof_expmap.h:37, from /home/wq/PL-SLAM-master/include/Converter.h:27, from /home/wq/PL-SLAM-master/src/Converter.cc:22: /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:26: fatal error: ../../config.h: 没有那个文件或目录 你好,在编译是一直卡在这,请问你知道原因吗? — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or unsubscribe.

但是 /PL-SLAM-master/Thirdparty/g2o 路径下只有 config.h.in 本来就没有这个文件,重命名后会出现 /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/../../config.h:4:2: error: invalid preprocessing directive #cmakedefine

cmakedefine G2O_OPENMP 1

^ /home/wq/PL-SLAM-master/Thirdparty/g2o/g2o/types/../core/../../config.h:5:2: error: invalid preprocessing directive #cmakedefine

cmakedefine G2O_SHARED_LIBS 1

^

兄弟你在编译pl-slam时遇到过这个问题么 /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:30:64: error: type/value mismatch at argument 4 in template parameter list for ‘template<class Derived, class Scalar, class OtherScalar, bool EnableIt> struct Eigen::internal::special_scalar_op_base’ EigenBase > ^ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:30:64: note: expected a constant of type ‘bool’, got ‘Eigen::EigenBase’ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:143:94: error: type/value mismatch at argument 4 in template parameter list for ‘template<class Derived, class Scalar, class OtherScalar, bool EnableIt> struct Eigen::internal::special_scalar_op_base’ typedef internal::special_scalar_op_base<Derived, Scalar, RealScalar, EigenBase > Base; ^ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:143:94: note: expected a constant of type ‘bool’, got ‘Eigen::EigenBase’ /usr/local/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h:144:11: error: ‘Base’ is not a class, namespace, or enumeration using Base::operator*;

HarborC commented 3 years ago

是否可以尝试高版本的eigen