'build_ros.sh' is waiting for updating

Yi-Zhou97 commented 2 years ago

When building the ROS version, there are some problems, such as the confusion between the file 'Examples_old' and 'Examples'.

Also, the process of 'make -j' will bring some problems as following:

/catkin_ws/src/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:405:53: error: no matching function for call to ‘std::vector::push_back(Eigen::Vector3f)’ 405 | vPoints.push_back(pMP->GetWorldPos());

/catkin_ws/src/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:405:53: error: conversion from ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} to non-scalar type ‘cv::Mat’ requested 530 | cv::Mat Xw = pMP->GetWorldPos();

/catkin_ws/src/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc:151:41: error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());

JACKLiuDay commented 2 years ago

https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/442 Hi, you can try this. Or, if you don't need the AR function, just delete it in the Cmakelists.

Qiu1117 commented 2 years ago

442 Hi, you can try this. Or, if you don't need the AR function, just delete it in the Cmakelists.

After I used the modification of point 4 in this link to replace the error of the original code, I got some new errors.

/home/qiuf/catkin_ws/src/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:406:36: error: invalid initialization of reference of type ‘cv::InputArray’ {aka ‘const cv::_InputArray&’} from expression of type ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} 406 | cv::eigen(pMP->GetWorldPos(), WorldPos); | ~~~~^~

/home/qiuf/catkin_ws/src/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ViewerAR.cc:533:33: error: invalid initialization of reference of type ‘cv::InputArray’ {aka ‘const cv::_InputArray&’} from expression of type ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} 533 | cv::eigen(pMP->GetWorldPos(), Xw); | ~~~~^~

/home/qiuf/catkin_ws/src/ORB_SLAM3/Examples_old/ROS/ORB_SLAM3/src/AR/ros_mono_ar.cc:154:15: error: invalid initialization of reference of type ‘cv::InputArray’ {aka ‘const cv::_InputArray&’} from expression of type ‘Eigen::Matrix4f’ {aka ‘Eigen::Matrix<float, 4, 4>’} 154 | cv::eigen(Tcw_Matrix, Tcw); | ^~~~~~

JACKLiuDay commented 2 years ago

@Qiu1117 Hi, I just see your reply. The errors seem to locate at the AR function. I just delete the related add_executable in the CMakeLists as I don't use the AR function. Maybe you can try this.

Qiu1117 commented 2 years ago

@Qiu1117 Hi, I just see your reply. The errors seem to locate at the AR function. I just delete the related add_executable in the CMakeLists as I don't use the AR function. Maybe you can try this.

It works！Thank you. : )

anchao1997 commented 2 years ago

in AR of Examples_old

#include "../../../include/Converter.h"

error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());

cv::Mat Tcw=ORB_SLAM3::Converter::toCvMat(mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec()).matrix());
//in line 151 of ros_mono_ar.cc

error: no matching function for call to ‘std::vector::push_back(Eigen::Vector3f)’ 405 | vPoints.push_back(pMP->GetWorldPos());

vPoints.push_back(ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos()));
//in line 405 of ViewerAR.cc

error: conversion from ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} to non-scalar type ‘cv::Mat’ requested 530 | cv::Mat Xw = pMP->GetWorldPos();

cv::Mat Xw = ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos());
//in line 530 of ViewerAR.cc

all above .cc file should include Converter.h file

thanhnguyencanh commented 1 year ago

in AR of Examples_old
#include "../../../include/Converter.h"
error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
cv::Mat Tcw=ORB_SLAM3::Converter::toCvMat(mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec()).matrix());
//in line 151 of ros_mono_ar.cc
error: no matching function for call to ‘std::vectorcv::Mat::push_back(Eigen::Vector3f)’ 405 | vPoints.push_back(pMP->GetWorldPos());
vPoints.push_back(ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos()));
//in line 405 of ViewerAR.cc
error: conversion from ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} to non-scalar type ‘cv::Mat’ requested 530 | cv::Mat Xw = pMP->GetWorldPos();
cv::Mat Xw = ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos());
//in line 530 of ViewerAR.cc
all above .cc file should include Converter.h file

Tkanks bro ^^

thehuongrbe commented 1 year ago

in AR of Examples_old
#include "../../../include/Converter.h"
error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
cv::Mat Tcw=ORB_SLAM3::Converter::toCvMat(mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec()).matrix());
//in line 151 of ros_mono_ar.cc
error: no matching function for call to ‘std::vectorcv::Mat::push_back(Eigen::Vector3f)’ 405 | vPoints.push_back(pMP->GetWorldPos());
vPoints.push_back(ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos()));
//in line 405 of ViewerAR.cc
error: conversion from ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} to non-scalar type ‘cv::Mat’ requested 530 | cv::Mat Xw = pMP->GetWorldPos();
cv::Mat Xw = ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos());
//in line 530 of ViewerAR.cc
all above .cc file should include Converter.h file
Tkanks bro ^^

Hi bro. i had the same error when try build it on ros2. How can fix it? Hope to see you soon! <3 My log error: error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 52 | cv::Mat Tcw = m_SLAM->TrackRGBD(cv_ptrRGB->image, cv_ptrD->image, msgRGB->header.stamp.sec);

anchao1997 commented 1 year ago

in AR of Examples_old
#include "../../../include/Converter.h"
error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
cv::Mat Tcw=ORB_SLAM3::Converter::toCvMat(mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec()).matrix());
//in line 151 of ros_mono_ar.cc
error: no matching function for call to ‘std::vectorcv::Mat::push_back(Eigen::Vector3f)’ 405 | vPoints.push_back(pMP->GetWorldPos());
vPoints.push_back(ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos()));
//in line 405 of ViewerAR.cc
error: conversion from ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} to non-scalar type ‘cv::Mat’ requested 530 | cv::Mat Xw = pMP->GetWorldPos();
cv::Mat Xw = ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos());
//in line 530 of ViewerAR.cc
all above .cc file should include Converter.h file
Tkanks bro ^^
Hi bro. i had the same error when try build it on ros2. How can fix it? Hope to see you soon! <3 My log error: error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 52 | cv::Mat Tcw = m_SLAM->TrackRGBD(cv_ptrRGB->image, cv_ptrD->image, msgRGB->header.stamp.sec);

I think you use ORB_SLAM3::Converter::toCvMat function to do so.

cwg968 commented 1 year ago

error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());

cv::Mat Tcw;
Sophus::SE3f Tcw_SE3f = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
Eigen::Matrix4f Tcw_Matrix = Tcw_SE3f.matrix();
cv::eigen2cv(Tcw_Matrix, Tcw);
// in line 151 of ros_mono_ar.cc

error: no matching function for call to ‘std::vectorcv::Mat::push_back(Eigen::Vector3f)’ 405 | vPoints.push_back(pMP->GetWorldPos());

cv::Mat WorldPos;
cv::eigen2cv(pMP->GetWorldPos(), WorldPos);
vPoints.push_back(WorldPos);
//in line 405 of ViewerAR.cc

error: conversion from ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} to non-scalar type ‘cv::Mat’ requested 530 | cv::Mat Xw = pMP->GetWorldPos();

cv::Mat Xw;
cv::eigen2cv(pMP->GetWorldPos(), Xw);
//in line 530 of ViewerAR.cc

and you should correct the code before add

#include <Eigen/Dense>
#include<opencv2/core/eigen.hpp>

all above .cc file should include add this!

joooohnson commented 1 year ago

in AR of Examples_old
#include "../../../include/Converter.h"
error: conversion from ‘Sophus::SE3f’ {aka ‘Sophus::SE3’} to non-scalar type ‘cv::Mat’ requested 151 | cv::Mat Tcw = mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec());
cv::Mat Tcw=ORB_SLAM3::Converter::toCvMat(mpSLAM->TrackMonocular(cv_ptr->image,cv_ptr->header.stamp.toSec()).matrix());
//in line 151 of ros_mono_ar.cc
error: no matching function for call to ‘std::vectorcv::Mat::push_back(Eigen::Vector3f)’ 405 | vPoints.push_back(pMP->GetWorldPos());
vPoints.push_back(ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos()));
//in line 405 of ViewerAR.cc
error: conversion from ‘Eigen::Vector3f’ {aka ‘Eigen::Matrix<float, 3, 1>’} to non-scalar type ‘cv::Mat’ requested 530 | cv::Mat Xw = pMP->GetWorldPos();
cv::Mat Xw = ORB_SLAM3::Converter::toCvMat(pMP->GetWorldPos());
//in line 530 of ViewerAR.cc
all above .cc file should include Converter.h file

Thank u <3

UZ-SLAMLab / ORB_SLAM3