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PeterFWS / Structure-PLP-SLAM

[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
GNU General Public License v3.0
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cmake error #3

Open Xuheyi opened 1 year ago

Xuheyi commented 1 year ago

this is my cmake error ，if you konw something please reply me，thank you very much CMake Error in src/PLPSLAM/CMakeLists.txt: Target "PLPSLAM" INTERFACE_INCLUDE_DIRECTORIES property contains path:

"/home/xt/Structure-PLP-SLAM-main/src/PLPSLAM/"

which is prefixed in the source directory.

CMake Error in src/PLPSLAM/CMakeLists.txt: Target "PLPSLAM" INTERFACE_INCLUDE_DIRECTORIES property contains path:

"/home/xt/Structure-PLP-SLAM-main/src/PLPSLAM//usr/local/include/DBoW2"

which is prefixed in the source directory.

-- Generating done CMake Generate step failed. Build files cannot be regenerated correctly.

PeterFWS commented 1 year ago

Hi,

there is a similar issue, please see the closed issue #1.

I did not encounter such errors, my impression is that the cmake/make error is due to the different version of DBoW installed on your PC.

Please try to install an older version of DBoW (later 2019), or install the one I shared (see closed issue #1).

Best regards.

Xuheyi commented 1 year ago

thank you very much！I will get it.

PeterFWS commented 1 year ago

Hi,

not sure why your new problem is not showing up in the github issues.

The crash may be due to the different version of g2o installed, which seems to be a known issue that can be solved by de-activating BUILD_WITH_MARCH NATIVE (in ccmake .).

Best, Fangwen

From: Xuheyi @.> Sent: Saturday, August 20, 2022 15:08 To: PeterFWS/Structure-PLP-SLAM @.> Cc: Fangwen Shu @.>; Comment @.> Subject: Re: [PeterFWS/Structure-PLP-SLAM] cmake error (Issue #3)

HI，I meet a new problem,I make pass,but when I use "./build/run_tum_rgbd_slam_with_line \

-v ./orb_vocab/orb_vocab.dbow2 -d /home/xt/dataset/rgbd_dataset_freiburg3_walking_xyz -c ./example/tum_rgbd/TUM_RGBD_rgbd_3.yaml The error is : Do you konw why? If you konw something please reply me，thank you very much

(base) @.***:~/Structure-PLP-SLAM-main$ ./build/run_tum_rgbd_slam_with_line \

-v ./orb_vocab/orb_vocab.dbow2 -d /home/xt/dataset/rgbd_dataset_freiburg3_walking_xyz -c ./example/tum_rgbd/TUM_RGBD_rgbd_3.yaml [2022-08-20 20:57:53.714] [I] config file loaded: ./example/tum_rgbd/TUM_RGBD_rgbd_3.yaml

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:

ORB Configuration:

Stereo Configuration:

Depth Image Configuration:

Other Configuration: PangolinViewer:

[2022-08-20 20:57:53.720] [I] loading ORB vocabulary: ./orb_vocab/orb_vocab.dbow2 [2022-08-20 20:57:53.915] [I] startup SLAM system [2022-08-20 20:57:53.915] [I] start mapping module [2022-08-20 20:57:53.915] [I] start global optimization module [2022-08-20 20:57:53.953] [I] new map created with 812 points: frame 0 [2022-08-20 20:57:53.953] [I] new map created with 23 lines: frame 0 double free or corruption (out) Aborted at 1661000273 (unix time) try "date -d @1661000273" if you are using GNU date PC: @ 0x7f808b8b1e87 gsignal SIGABRT @.) received by PID 6743 (TID 0x7f8071716700) from PID 6743; stack trace: *** @ 0x7f808d4ba980 (unknown) @ 0x7f808b8b1e87 gsignal @ 0x7f808b8b37f1 abort @ 0x7f808b8fc837 (unknown) @ 0x7f808b9038ba (unknown) @ 0x7f808b90ae4a cfree @ 0x7f808b4280f8 g2o::OptimizableGraph::~OptimizableGraph() @ 0x7f808d9c5efe PLPSLAM::optimize::pose_optimizer::optimize() @ 0x7f808d9af9a6 PLPSLAM::module::frame_tracker::bow_match_based_track() @ 0x7f808d84cfc2 PLPSLAM::tracking_module::track_current_frame() @ 0x7f808d84d563 PLPSLAM::tracking_module::track() @ 0x7f808d84f084 PLPSLAM::tracking_module::track_RGBD_image() @ 0x7f808d832264 PLPSLAM::system::feed_RGBD_frame() @ 0x55adb8856878 _ZZ13rgbd_trackingRKSt10shared_ptrIN7PLPSLAM6configEERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESC_jbbbSC_ENKUlvE_clEv @ 0x7f808bf396df (unknown) @ 0x7f808d4af6db start_thread @ 0x7f808b99461f clone 已放弃 (核心已转储)

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Xuheyi commented 1 year ago

thank you， I had get it.