I can't compile the code

[Weilesscodeless]

I got some code syntax error，may I ask you about your test platform. Ubuntu 18.04 or Ubuntu 20.04. And if needing to satisfy with requirements for stella_vslam

[Weilesscodeless]

error: ‘atomic’ in namespace ‘std’ does not name a template type static std::atomic _next_id; Like this； By the way I used gcc-7.5

[PeterFWS]

Hi,

The test platform was Ubuntu 18.04. Usually you need at least satisfy the dependencies of ORBSLAM. Stella_slam is almost same but newer.

Compiling errors may occur when you use for example different version of g2o.

Best,

[Weilesscodeless]

Thanks for your reply! I just run this project on TUM. But It can only work for a seconds then shut down. I run in virtual machine with 16g rom.

Structure PLP-SLAM: Copyright (C) 2022, Department Augmented Vision, DFKI, Germany. All rights reserved.

This is free software, and you are welcome to redistribute it under certain conditions. See the LICENSE file.

Camera Configuration:

• name: TUM RGBD monocular 03
• setup: Monocular
• fps: 30
• cols: 640
• rows: 480
• color: RGB
• model: Perspective
  • fx: 535.4
  • fy: 539.2
  • cx: 320.1
  • cy: 247.6
  • k1: 0
  • k2: 0
  • p1: 0
  • p2: 0
  • k3: 0
  • min x: 0
  • max x: 640
  • min y: 0
  • max y: 480

ORB Configuration:

• number of keypoints: 1000
• scale factor: 1.2
• number of levels: 8
• initial fast threshold: 20
• minimum fast threshold: 7

Other Configuration: PangolinViewer:

• camera_line_width: 3
• camera_size: 0.08
• graph_line_width: 1
• keyframe_line_width: 1
• keyframe_size: 0.05
• point_size: 2
• viewpoint_f: 400
• viewpoint_x: 0
• viewpoint_y: -0.9
• viewpoint_z: -1.9

[2023-02-28 20:50:37.550] [I] loading ORB vocabulary: ./orb_vocab/orb_vocab.dbow2 [2023-02-28 20:50:42.016] [I] startup SLAM system [2023-02-28 20:50:42.017] [I] start mapping module [2023-02-28 20:50:42.018] [I] start global optimization module [2023-02-28 20:50:47.810] [I] initialization succeeded with F double free or corruption (out) Aborted at 1677588647 (unix time) try "date -d @1677588647" if you are using GNU date PC: @ 0x0 (unknown) SIGABRT (@0x3e800000951) received by PID 2385 (TID 0x7f435d603640) from PID 2385; stack trace: @ 0x7f437be42520 (unknown) @ 0x7f437be96a7c pthread_kill @ 0x7f437be42476 raise @ 0x7f437be287f3 abort @ 0x7f437be896f6 (unknown) @ 0x7f437bea0d7c (unknown) @ 0x7f437bea2ef0 (unknown) @ 0x7f437bea54d3 free @ 0x7f437ceca298 g2o::OptimizableGraph::~OptimizableGraph() @ 0x7f437d2b90aa PLPSLAM::optimize::global_bundle_adjuster::optimize() @ 0x7f437d234483 PLPSLAM::module::initializer::create_map_for_monocular() @ 0x7f437d234c93 PLPSLAM::module::initializer::initialize() @ 0x7f437d0fec1c PLPSLAM::tracking_module::initialize() @ 0x7f437d100ea5 PLPSLAM::tracking_module::track() @ 0x7f437d10130f PLPSLAM::tracking_module::track_monocular_image() @ 0x7f437d0e7e5c PLPSLAM::system::feed_monocular_frame() @ 0x55688a9a1450 _ZZ13mono_trackingRKSt10shared_ptrIN7PLPSLAM6configEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESC_jbbbSC_ENKUlvE_clEv @ 0x7f437c2dc2b3 (unknown) @ 0x7f437be94b43 (unknown) @ 0x7f437bf26a00 (unknown) Aborted (core dumped)

[PeterFWS]

hi,

The crash may be due to the different version of g2o installed, please try to de-activate BUILD_WITH_MARCH NATIVE (in ccmake .).

Best regards,

[Weilesscodeless]

It really works! Now new trouble is no map generated. I can only see the trajectory. Im using Pangolin latest version

[PeterFWS]

well,

I had this visualization problem when I test it on ubuntu 20. try to click "follow camera" and click it again, you may see a delayed visualization, unfortunately, I do not aware of where the bug is.

Best,