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RTAB-Map library and standalone application
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expected type-specifier before ‘OdometryORBSLAM’ : ORBSLAM2 RTAB-MAP. #1232

Closed zhuoyan28 closed 8 months ago

zhuoyan28 commented 8 months ago

I installed ORBSLAM2 in conjunction with RTAB-MAP. I get this error when RTAB-MAP executes make. It looks like it's a problem with gcc g++. In ORBSLAM2 patch (from https://zhuanlan.zhihu.com/p/426604435) The reason for the error when executing the patch directly is that the changes to the CXX in the three CMakeLists are more or less the same, with only a few differences, and ORBSLAM2 compiles without problems.

install reference https://zhuanlan.zhihu.com/p/528557998 https://zhuanlan.zhihu.com/p/426604435

the output: [ 33%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerGTSAM.cpp.o [ 33%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerCVSBA.cpp.o [ 33%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/optimizer/OptimizerCeres.cpp.o [ 34%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Registration.cpp.o [ 34%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationIcp.cpp.o [ 35%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/RegistrationVis.cpp.o [ 35%] Building CXX object corelib/src/CMakeFiles/rtabmap_core.dir/Odometry.cpp.o /home/master/study-learning/rtabmap/corelib/src/Odometry.cpp: In static member function ‘static rtabmap::Odometry* rtabmap::Odometry::create(rtabmap::Odometry::Type&, const ParametersMap&)’: /home/master/study-learning/rtabmap/corelib/src/Odometry.cpp:89:18: error: expected type-specifier before ‘OdometryORBSLAM’ odometry = new OdometryORBSLAM(parameters); ^~~~~~~ corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1650: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/Odometry.cpp.o' failed make[2]: [corelib/src/CMakeFiles/rtabmap_core.dir/Odometry.cpp.o] Error 1 CMakeFiles/Makefile2:267: recipe for target 'corelib/src/CMakeFiles/rtabmap_core.dir/all' failed make[1]: [corelib/src/CMakeFiles/rtabmap_core.dir/all] Error 2 Makefile:151: recipe for target 'all' failed make: *** [all] Error 2

zhuoyan28 commented 8 months ago

Avoid the problem. Do not download the latest rtab-map version, select the suffix melodic (ubuntu18), and ros corresponding to this version, you will not encounter this problem when runningm, choose anth

matlabbe commented 8 months ago

The ORB_SLAM integration has been updated to support ORB_SLAM2 and ORB_SLAM3 in that commit https://github.com/introlab/rtabmap/commit/aaff1abc4f257cf948de5f427d190a89556510ac. Based on your error, there is indeed a bug here: https://github.com/introlab/rtabmap/blob/52e1b015978d7f02b139d4e598a8bd49fe98fd17/corelib/src/Odometry.cpp#L88-L92 It should be:

#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 2
        odometry = new OdometryORBSLAM2(parameters);
#else
        odometry = new OdometryORBSLAM3(parameters);
#endif
matlabbe commented 8 months ago

Fixed in commit above. I tested on ubuntu 20.04 / OpenCV 4, so I used this PR: https://github.com/raulmur/ORB_SLAM2/pull/1075 with these local changes:

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 465e9ff..7bdab9c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,8 +7,8 @@ ENDIF()

 MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")

 # Check c++14 or C++0x support
 include(CheckCXXCompilerFlag)
diff --git a/Thirdparty/DBoW2/CMakeLists.txt b/Thirdparty/DBoW2/CMakeLists.txt
index e20f340..a174009 100644
--- a/Thirdparty/DBoW2/CMakeLists.txt
+++ b/Thirdparty/DBoW2/CMakeLists.txt
@@ -1,8 +1,8 @@
 cmake_minimum_required(VERSION 2.8)
 project(DBoW2)

-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3  ")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 ")

 set(HDRS_DBOW2
   DBoW2/BowVector.h
diff --git a/Thirdparty/g2o/CMakeLists.txt b/Thirdparty/g2o/CMakeLists.txt
index 620e688..c1a3c91 100644
--- a/Thirdparty/g2o/CMakeLists.txt
+++ b/Thirdparty/g2o/CMakeLists.txt
@@ -54,8 +54,8 @@ IF(OPENMP_FOUND AND G2O_USE_OPENMP)
 ENDIF(OPENMP_FOUND AND G2O_USE_OPENMP)

 # Compiler specific options for gcc
-SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native") 
-SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -march=native") 
+SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 ") 
+SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 ")
zhuoyan28 commented 8 months ago

1 Thank you for your reply. My environment is ubuntu18. Now that ORBSLAM2 has been installed, which version of rtab-map should be installed later? Directly git the latest version or the --melodic version, such as 0.20.23-melodic?

2 My environment dependencies are： ubuntu 18.04 ros-melodic-desktop-full pangolin 0.5 opcv 3.2 (provided by ros-melodic)

3 When compiling ORBSLAM2, I directly git the version of ORBSLAM2, and then use orbslam2_f2e6f51_marchnative_disabled.patch: and then compile again.

zhuoyan28 commented 8 months ago

I completed all the compilation and ran roslaunch and this problem occurred. （rtab-map and rtab-map-ros both are obtained directly from github）

roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 5 OdomORBSLAM/VocPath /home/shen/rtab_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt" MH_seq:=true raw_images_for_odom:=true RLException: [euroc_datasets.launch] is neither a launch file in package [rtabmap_ros] nor is [rtabmap_ros] a launch file name The traceback for the exception was written to the log file

-Does the file actually exists? Yes, under /home/shen/rtab_ws/src/rtabmap_ros/rtabmap_examples/launch. -Did you source the setup.bash file? Yes, I source devel/setup.bash under rtab_ws folder

Answer way: I copy euroc_datasets.launch from folder rtabmap_ros/rtabmap_examples/launch to folder rtabmap_ros/rtabmap_ros/launch,

My commands are: roslaunch rtabmap_ros euroc_datasets.launch args:="Odom/Strategy 5 OdomORBSLAM/VocPath /home/shen/rtab_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt" MH_seq:=true raw_images_for_odom:=true rosbag play --clock MH_04_difficult.bag

there is an error: Rtabmap.cpp:1349::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 827 is ignored!

matlabbe commented 8 months ago

Hi,

For your previous message, you should be able to build latest master branch on 18.04.

The euroc_datasets.launch is now under rtabmap_examples package:

roslaunch rtabmap_examples euroc_datasets.launch \
   args:="Odom/Strategy 5 OdomORBSLAM/VocPath /home/shen/rtab_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt" \
   MH_seq:=true \
   raw_images_for_odom:=true

Tested with version above and I could not reproduce the error. Is it happening at the beginning or later in the bag? (to know at least it is somewhat working)

My log just after starting the bag:

Camera Parameters: 
- fx: 436.235
- fy: 436.235
- cx: 364.445
- cy: 256.952
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 3
- Scale Factor: 2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 4.40312
New map created with 360 points
[ INFO] [1710303025.539362217, 1403636579.864527989]: Odom: quality=360, std dev=99.995000m|99.995000rad, update time=0.026084s
[ WARN] (2024-03-12 21:10:25.541) MainWindow.cpp:1162::processOdometry() Initializing rectification maps for stereo camera 0 (only done for the first image received)...
[ WARN] (2024-03-12 21:10:25.543) MainWindow.cpp:1165::processOdometry() Initializing rectification maps for stereo camera 0 (only done for the first image received)... done!
[ WARN] (2024-03-12 21:10:25.545) Memory.cpp:4617::createSignature() Initializing rectification maps (only done for the first image received)...
[ WARN] (2024-03-12 21:10:25.547) Memory.cpp:4619::createSignature() Initializing rectification maps (only done for the first image received)...done!
[ INFO] [1710303025.565914547, 1403636579.894708984]: Odom: quality=315, std dev=0.013760m|0.010000rad, update time=0.025260s
[ INFO] [1710303025.576130198, 1403636579.904766035]: rtabmap (1): Rate=1.00s, Limit=0.000s, Conversion=0.0035s, RTAB-Map=0.0241s, Maps update=0.0006s pub=0.0054s (local map=1, WM=1)
[ INFO] [1710303025.601048830, 1403636579.924941348]: Odom: quality=341, std dev=0.013760m|0.010000rad, update time=0.017992s
[ INFO] [1710303025.645353533, 1403636579.975226139]: Odom: quality=315, std dev=0.013760m|0.010000rad, update time=0.016947s
[ INFO] [1710303025.699690301, 1403636580.025600847]: Odom: quality=328, std dev=0.013760m|0.010000rad, update time=0.016873s
[ INFO] [1710303025.759981157, 1403636580.085991395]: Odom: quality=325, std dev=0.013760m|0.010000rad, update time=0.017051s
[ INFO] [1710303025.798672590, 1403636580.126225381]: Odom: quality=309, std dev=0.013760m|0.010000rad, update time=0.016956s
[ INFO] [1710303025.844623470, 1403636580.166457297]: Odom: quality=300, std dev=0.013760m|0.010000rad, update time=0.016153s
[ INFO] [1710303025.894758915, 1403636580.216736663]: Odom: quality=248, std dev=0.013760m|0.010000rad, update time=0.016127s
[ INFO] [1710303025.944100258, 1403636580.267044496]: Odom: quality=229, std dev=0.013760m|0.010000rad, update time=0.015587s
[ INFO] [1710303025.995424869, 1403636580.317345581]: Odom: quality=267, std dev=0.013760m|0.010000rad, update time=0.016958s
[ INFO] [1710303026.043645073, 1403636580.367643672]: Odom: quality=227, std dev=0.013760m|0.010000rad, update time=0.015215s
[ INFO] [1710303026.093691921, 1403636580.417978663]: Odom: quality=266, std dev=0.013760m|0.010000rad, update time=0.015304s
[ INFO] [1710303026.143575674, 1403636580.468365728]: Odom: quality=264, std dev=0.013760m|0.010000rad, update time=0.015215s
[ INFO] [1710303026.196837418, 1403636580.518748492]: Odom: quality=175, std dev=0.013760m|0.010000rad, update time=0.014708s
[ INFO] [1710303026.242466293, 1403636580.569031047]: Odom: quality=193, std dev=0.013760m|0.010000rad, update time=0.014019s
[ INFO] [1710303026.297040695, 1403636580.619319190]: Odom: quality=142, std dev=0.013760m|0.010000rad, update time=0.013711s
[ INFO] [1710303026.346424544, 1403636580.669606476]: Odom: quality=135, std dev=0.013760m|0.010000rad, update time=0.013305s
[ INFO] [1710303026.396769740, 1403636580.719926996]: Odom: quality=239, std dev=0.013760m|0.010000rad, update time=0.016937s
[ INFO] [1710303026.446012837, 1403636580.770233603]: Odom: quality=260, std dev=0.013760m|0.010000rad, update time=0.017306s
[ INFO] [1710303026.497988774, 1403636580.820535579]: Odom: quality=297, std dev=0.013760m|0.010000rad, update time=0.019433s
[ INFO] [1710303026.527875896, 1403636580.850719649]: rtabmap (2): Rate=1.00s, Limit=0.000s, Conversion=0.0006s, RTAB-Map=0.0279s, Maps update=0.0001s pub=0.0010s (local map=2, WM=2)
[ INFO] [1710303026.550168325, 1403636580.870827638]: Odom: quality=322, std dev=0.013760m|0.010000rad, update time=0.021450s
[ INFO] [1710303026.601209024, 1403636580.925210528]: Odom: quality=365, std dev=0.013760m|0.010000rad, update time=0.018969s
zhuoyan28 commented 8 months ago

Sorry to bother you, my previous installation was to directly git the latest rtab-map and rtab-map-ros codes. If I just use the new Ubuntu system and follow the installation docker file, I can install both rtab-map + ORBSLAM2, right?

matlabbe commented 8 months ago

Yeah, you can also create a docker to run on any ubuntu os.

zhuoyan28 commented 8 months ago

thank you so much！

---- Replied Message ---- | From | @.> | | Date | 03/17/2024 07:22 | | To | introlab/rtabmap @.> | | Cc | Dan @.>, Author @.> | | Subject | Re: [introlab/rtabmap] expected type-specifier before ‘OdometryORBSLAM’ : ORBSLAM2 RTAB-MAP. (Issue #1232) |

Yeah, you can also create a docker to run on any ubuntu os.

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