libgflags link error

[HeXu1]

Hi,thanks for your work when I run "./slam -c robust_high_frequency_config.yaml" ,the output is "error while loading shared libraries: libgflags.so.2.2: cannot open shared object file: No such file or directory". I have install gflag in “usr/local/”. And I can't find where link gflags in cmakelists.txt. hope for your reply,thanks a lot.

[HeXu1]

it seems well now after install libgflags. but it has “Segmentation fault” when parse param with "OPTION_CLAUSE" function.

[pdell-kitware]

Hi,

Do you have an error associated with the Segmentation Fault (perhaps before) ? Have you tried to debug (with a breakpoint) to know precisely where is the errror ?

I will need a bit more to be able to help you,

Best Regards,

[HeXu1]

thanks, Segmentation Fault does not occur before. Segmentation Fault comes from parse param part with "OPTION_CLAUSE" function. I have debug it,it cannot parse any param successfully.

[pdell-kitware]

OPTION_CLAUSE is a MACRO, so you can look at the code it generates to see if there is any problem.

So i understand that it fails at "OPTION_CLAUSE(icp_node, icp_options, threshold_voxel_occupancy, int);" In the main script, is that right ?

Can you:

• Give your system specifications (OS, compiler with version, etc..)
• Print the YAML Node before calling the OPTION_CLAUSE

[HeXu1]

ok, my OS: Ubuntu16.04 compiler with version :gcc8 And i print yaml node in "SLAMOptions read_config(const std::string &config_path)" function,the output is: slam_node: max_num_threads: 1 save_trajectory: true suspend_on_failure: false output_dir: .outputs all_sequences: true sequence: "" start_index: 0 max_frames: -1 display_debug: true dataset_options: dataset: NCLT root_path: /home/cidi/slam_data/ct-slam/2012-01-08 fail_if_incomplete: false min_dist_lidar_center: 0.5 max_dist_lidar_center: 100.0 nclt_num_aggregated_pc: 220 odometry_options: voxel_size: 0.3 sample_voxel_size: 1.5 max_distance: 200.0 max_num_points_in_voxel: 20 debug_print: true min_distance_points: 0.15 distance_error_threshold: 100.0 motion_compensation: CONTINUOUS initialization: INIT_NONE init_num_frames: 20 robust_registration: true robust_full_voxel_threshold: 0.6 robust_num_attempts: 3 robust_max_voxel_neighborhood: 4 robust_threshold_relative_orientation: 2 robust_threshold_ego_orientation: 2 log_to_file: false debug_viz: true ct_icp_options: size_voxel_map: 0.8 num_iters_icp: 30 min_number_neighbors: 20 threshold_voxel_occupancy: 5 voxel_neighborhood: 1 max_number_neighbors: 20 max_dist_to_plane_icp: 0.5 power_planarity: 2 threshold_orientation_norm: 0.1 threshold_translation_norm: 0.01 debug_print: false point_to_plane_with_distortion: false distance: CT_POINT_TO_PLANE num_closest_neighbors: 1 beta_location_consistency: 0.001 beta_constant_velocity: 0.000 beta_orientation_consistency: 0.000 beta_small_velocity: 0.01 solver: CERES debug_viz: true min_num_residuals: 200 max_num_residuals: 600 loss_function: CAUCHY ls_max_num_iters: 10 ls_num_threads: 8 ls_sigma: 0.2 ls_tolerant_min_threshold: 0.05 Segmentation fault (core dumped)

[HeXu1]

and i'm confused with "kitti_raw_transform_trajectory_frame()" function: R_Tr,T_Tr: does this mean extrinsic lidar to left camera ,T_lidar2came; center_R,center_t: does this mean lidar absolute pose ,T_lidar2world; And follows transformation means T_lidar2cameT_lidar2worldinv(T_lidar2came)? it seems not right. center_R = R_Tr center_R R_Tr.transpose(); center_t = -center_R T_Tr + T_Tr + R_Tr center_t;

thanks a lot.

[HeXu1]

T_lidar2came T_lidar2world inv(T_lidar2came)

[HeXu1]

Hi, I rebuild it with gcc-9,it works when build with ".\ct_icp_build.sh Release "Unix Makefiles" ON OFF" ,but failed with ".\ct_icp_build.sh Release "Unix Makefiles" ON ON". the output is "Target glfw could not be found". the glfw has installed in "cmake-build-Release/external" path,but cann't link well. hope for your reply,thanks.

[HeXu1]

I have fixed it by replace "find_package(glfw3 REQUIRED CONFIG PATHS ${GLFW_DIR})" with "find_package(glfw3 3.3 REQUIRED CONFIG PATHS ${GLFW_DIR})" in external.cmake file.

[pdell-kitware]

So it didn't work with gcc8 ? That is strange as I had no problem with gcc-7.5. I will investigate.

Your latest problem is probably due to conflicting glfw installed on your system and cmake-build-Release/external

The "proper way" to fix it would be to add NO_DEFAULT_PATH to the cmake command

find_package(glfw3 REQUIRED CONFIG PATHS ${GLFW_DIR} NO_DEFAULT_PATH)

[HeXu1]

1) yes, gcc8 didn't work. 2) I build successfully with "find_package(glfw3 REQUIRED CONFIG PATHS ${GLFW_DIR} NO_DEFAULT_PATH)" 3) and the last problem about "center_R = R_Tr center_R R_Tr.transpose()", I understand the first "R_Tr" means transformation from lidar odometry to visual odometry . because the two odometry start at the same time.so the extrinsic pram means the two odometry's transformation. thanks a lot.

[HeXu1]

And by the way, how to change pcd file to ply used in ct-icp. I found the "writeFile()" function in "PlyFile.h" ,but I cann't use it well. thanks.