jianhengLiu / VINS-Fusion-FAST

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fatal error: backward.hpp: 没有那个文件或目录 #include "backward.hpp" #2

Closed wcm-123 closed 2 years ago

wcm-123 commented 2 years ago

你好，打扰您一下，我在执行catkin_make后报错，修改了一天还没解决，请问该怎么处理！求指教

/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp:12:10: fatal error: backward.hpp: 没有那个文件或目录

include "backward.hpp"

      ^~~~~~~~~~~~~~

compilation terminated. VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/build.make:62: recipe for target 'VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/src/rosNodeTest.cpp.o' failed make[2]: [VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/src/rosNodeTest.cpp.o] Error 1 CMakeFiles/Makefile2:1992: recipe for target 'VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/all' failed make[1]: [VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j16 -l16" failed

jianhengLiu commented 2 years ago

你好，打扰您一下，我在执行catkin_make后报错，修改了一天还没解决，请问该怎么处理！求指教

/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp:12:10: fatal error: backward.hpp: 没有那个文件或目录 #include "backward.hpp" ^~~~~~ compilation terminated. VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/build.make:62: recipe for target 'VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/src/rosNodeTest.cpp.o' failed make[2]: [VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/src/rosNodeTest.cpp.o] Error 1 CMakeFiles/Makefile2:1992: recipe for target 'VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/all' failed make[1]: [VINS-Fusion-FAST/vins_estimator/CMakeFiles/vins_node.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j16 -l16" failed

https://github.com/bombela/backward-cpp backward-cpp是一个挺好用的debug头文件，能够快速的帮你定位出错的位置。

如果不需要的话只需要将VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp中的下列代码删除即可：

#define BACKWARD_HAS_DW 1
#include "backward.hpp"
namespace backward{
    backward::SignalHandling sh;
}

附：

backward-cpp安装方法

sudo apt-get install libdw-dev
sudo wget -P /usr/include https://raw.githubusercontent.com/bombela/backward-cpp/master/backward.hpp

wcm-123 commented 2 years ago

非常感谢您的建议，谢谢

wcm-123 commented 2 years ago

你好，我刚刚在准备测试euroc数据集时，执行rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-FAST/config/euroc/euroc_mono_imu_config.yaml 发现config文件里面没有euroc文件，VINS-Fusion-FAST这个不能进行数据及测试吗，我想看看fast角点检测在这中VINS里面的效果怎么样。

jianhengLiu commented 2 years ago

你好，我刚刚在准备测试euroc数据集时，执行rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-FAST/config/euroc/euroc_mono_imu_config.yaml 发现config文件里面没有euroc文件，VINS-Fusion-FAST这个不能进行数据及测试吗，我想看看fast角点检测在这中VINS里面的效果怎么样。

可以直接复制VINS-FUSION中的配置文件进行测试

wcm-123 commented 2 years ago

你好，我刚刚在准备测试euroc数据集时，执行rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-FAST/config/euroc/euroc_mono_imu_config.yaml 发现config文件里面没有euroc文件，VINS-Fusion-FAST这个不能进行数据及测试吗，我想看看fast角点检测在这中VINS里面的效果怎么样。

可以直接复制VINS-FUSION中的配置文件进行测试

你好，我将你这个软件包下载好后，将catkin_VINS_FAST/src/VINS-Fusion-FAST里面的config文件夹用VINS-Fusion里面的config文件夹来替换，，cmake_make成功编译后在执行rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml却一直报错，看错误原因有殿无从下手，不知怎么处理 `chen@chen:~/catkin_VINS_FAST$ rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml [ INFO] [1640773791.605492578]: init begins config_file: /home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /imu0 result path ~/output//vio.csv [ WARN] [1640773791.610249601]: fix extrinsic param camera number 2 OpenCV Error: Assertion failed (!fixedSize()) in release, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 2625 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:2625: error: (-215) !fixedSize() in function release

Stack trace (most recent call last):

15 Object "", at 0xffffffffffffffff, in

14 Object "/home/chen/catkin_VINS_FAST/devel/lib/vins/vins_node", at 0x5631a0905819, in _start

13 Source "../csu/libc-start.c", line 310, in __libc_start_main [0x7f4df3f87bf6]

12 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp", line 192, in main [0x5631a09043db]

    189:     string config_file = argv[1];
    190:     printf("config_file: %s\n", argv[1]);
    191: 
  > 192:     readParameters(config_file);
    193:     estimator.setParameter();
    194: 
    195: #ifdef EIGEN_DONT_PARALLELIZE

11 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/estimator/parameters.cpp", line 183, in readParameters [0x7f4df5dcc665]

    180:     cv::Mat cv_center_T_imu;
    181:     fsSettings["center_T_imu"] >> cv_center_T_imu;
    182:     Eigen::Matrix4d T_temp;
  > 183:     cv::cv2eigen(cv_center_T_imu, T_temp);
    184:     center_R_imu = T_temp.block<3, 3>(0, 0);
    185:     center_T_imu = T_temp.block<3, 1>(0, 3);

10 Source "/usr/local/include/opencv2/core/eigen.hpp", line 108, in cv2eigen<double, 4, 4, 0, 4, 4> [0x7f4df5dcb61a]

    105:         else if( src.cols == src.rows )
    106:         {
    107:             src.convertTo(_dst, _dst.type());
  > 108:             transpose(_dst, _dst);
    109:         }
    110:         else
    111:             Mat(src.t()).convertTo(_dst, _dst.type());

9 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5636f82, in cv::transpose(cv::_InputArray const&, cv::_OutputArray const&)

8 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5633378, in cv::_OutputArray::release() const

7 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa9be, in cv::error(int, cv::String const&, char const, char const, int)

6 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa8a1, in cv::error(cv::Exception const&)

5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601d53, in __cxa_throw

4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601b20, in std::terminate()

3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601ae5, in

2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df45fb956, in

1 Source "/build/glibc-S9d2JN/glibc-2.27/stdlib/abort.c", line 79, in abort [0x7f4df3fa6920]

0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f4df3fa4fb7]

Aborted (Signal sent by tkill() 32055 1000) 已放弃 (核心已转储) `

jianhengLiu commented 2 years ago

你好，我刚刚在准备测试euroc数据集时，执行rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-FAST/config/euroc/euroc_mono_imu_config.yaml 发现config文件里面没有euroc文件，VINS-Fusion-FAST这个不能进行数据及测试吗，我想看看fast角点检测在这中VINS里面的效果怎么样。

可以直接复制VINS-FUSION中的配置文件进行测试

你好，我将你这个软件包下载好后，将catkin_VINS_FAST/src/VINS-Fusion-FAST里面的config文件夹用VINS-Fusion里面的config文件夹来替换，，cmake_make成功编译后在执行rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml却一直报错，看错误原因有殿无从下手，不知怎么处理 `chen@chen:~/catkin_VINS_FAST$ rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml [ INFO] [1640773791.605492578]: init begins config_file: /home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /imu0 result path ~/output//vio.csv [ WARN] [1640773791.610249601]: fix extrinsic param camera number 2 OpenCV Error: Assertion failed (!fixedSize()) in release, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 2625 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:2625: error: (-215) !fixedSize() in function release

Stack trace (most recent call last): #15 Object "", at 0xffffffffffffffff, in #14 Object "/home/chen/catkin_VINS_FAST/devel/lib/vins/vins_node", at 0x5631a0905819, in _start #13 Source "../csu/libc-start.c", line 310, in libc_start_main [0x7f4df3f87bf6] #12 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp", line 192, in main [0x5631a09043db] 189: string config_file = argv[1]; 190: printf("config_file: %s\n", argv[1]); 191: > 192: readParameters(config_file); 193: estimator.setParameter(); 194: 195: #ifdef EIGEN_DONT_PARALLELIZE #11 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/estimator/parameters.cpp", line 183, in readParameters [0x7f4df5dcc665] 180: cv::Mat cv_center_T_imu; 181: fsSettings["center_T_imu"] >> cv_center_T_imu; 182: Eigen::Matrix4d T_temp; > 183: cv::cv2eigen(cv_center_T_imu, T_temp); 184: center_R_imu = T_temp.block<3, 3>(0, 0); 185: center_T_imu = T_temp.block<3, 1>(0, 3); #10 Source "/usr/local/include/opencv2/core/eigen.hpp", line 108, in cv2eigen<double, 4, 4, 0, 4, 4> [0x7f4df5dcb61a] 105: else if( src.cols == src.rows ) 106: { 107: src.convertTo(_dst, _dst.type()); > 108: transpose(_dst, _dst); 109: } 110: else 111: Mat(src.t()).convertTo(_dst, _dst.type()); #9 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5636f82, in cv::transpose(cv::_InputArray const&, cv::_OutputArray const&) #8 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5633378, in cv::_OutputArray::release() const #7 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa9be, in cv::error(int, cv::String const&, char const, char const, int) #6 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa8a1, in cv::error(cv::Exception const&) #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601d53, in cxa_throw #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601b20, in std::terminate() #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601ae5, in #2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df45fb956, in #1 Source "/build/glibc-S9d2JN/glibc-2.27/stdlib/abort.c", line 79, in abort [0x7f4df3fa6920] #0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f4df3fa4fb7] Aborted (Signal sent by tkill() 32055 1000) 已放弃 (核心已转储) `

yaml文件补充

center_T_imu: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 1.0, 0.0,0.0, 0.0,
           0.0, 1.0,0.0, 0.0,
           0.0, 0.0, 1.0, 0.0, 
           0.0, 0.0, 0.0, 1.0 ]

wcm-123 commented 2 years ago

你好，我刚刚在准备测试euroc数据集时，执行rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-FAST/config/euroc/euroc_mono_imu_config.yaml 发现config文件里面没有euroc文件，VINS-Fusion-FAST这个不能进行数据及测试吗，我想看看fast角点检测在这中VINS里面的效果怎么样。

可以直接复制VINS-FUSION中的配置文件进行测试

你好，我将你这个软件包下载好后，将catkin_VINS_FAST/src/VINS-Fusion-FAST里面的config文件夹用VINS-Fusion里面的config文件夹来替换，，cmake_make成功编译后在执行rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml却一直报错，看错误原因有殿无从下手，不知怎么处理 chen@chen:~/catkin_VINS_FAST$ rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml [ INFO] [1640773791.605492578]: init begins config_file: /home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /imu0 result path ~/output//vio.csv [ WARN] [1640773791.610249601]: fix extrinsic param camera number 2 OpenCV Error: Assertion failed (!fixedSize()) in release, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 2625 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:2625: error: (-215) !fixedSize() in function release Stack trace (most recent call last): #15 Object "", at 0xffffffffffffffff, in #14 Object "/home/chen/catkin_VINS_FAST/devel/lib/vins/vins_node", at 0x5631a0905819, in _start #13 Source "../csu/libc-start.c", line 310, in __libc_start_main [0x7f4df3f87bf6] #12 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp", line 192, in main [0x5631a09043db] 189: string config_file = argv[1]; 190: printf("config_file: %s\n", argv[1]); 191: > 192: readParameters(config_file); 193: estimator.setParameter(); 194: 195: #ifdef EIGEN_DONT_PARALLELIZE #11 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/estimator/parameters.cpp", line 183, in readParameters [0x7f4df5dcc665] 180: cv::Mat cv_center_T_imu; 181: fsSettings["center_T_imu"] >> cv_center_T_imu; 182: Eigen::Matrix4d T_temp; > 183: cv::cv2eigen(cv_center_T_imu, T_temp); 184: center_R_imu = T_temp.block<3, 3>(0, 0); 185: center_T_imu = T_temp.block<3, 1>(0, 3); #10 Source "/usr/local/include/opencv2/core/eigen.hpp", line 108, in cv2eigen<double, 4, 4, 0, 4, 4> [0x7f4df5dcb61a] 105: else if( src.cols == src.rows ) 106: { 107: src.convertTo(_dst, _dst.type()); > 108: transpose(_dst, _dst); 109: } 110: else 111: Mat(src.t()).convertTo(_dst, _dst.type()); #9 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5636f82, in cv::transpose(cv::_InputArray const&, cv::_OutputArray const&) #8 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5633378, in cv::_OutputArray::release() const #7 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa9be, in cv::error(int, cv::String const&, char const*, char const*, int) #6 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa8a1, in cv::error(cv::Exception const&) #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601d53, in __cxa_throw #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601b20, in std::terminate() #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601ae5, in #2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df45fb956, in #1 Source "/build/glibc-S9d2JN/glibc-2.27/stdlib/abort.c", line 79, in abort [0x7f4df3fa6920] #0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f4df3fa4fb7] Aborted (Signal sent by tkill() 32055 1000) 已放弃 (核心已转储)

yaml文件补充
center_T_imu: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 1.0, 0.0,0.0, 0.0,
           0.0, 1.0,0.0, 0.0,
           0.0, 0.0, 1.0, 0.0, 
           0.0, 0.0, 0.0, 1.0 ]

wcm-123 commented 2 years ago

你好，我刚刚在准备测试euroc数据集时，执行rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-FAST/config/euroc/euroc_mono_imu_config.yaml 发现config文件里面没有euroc文件，VINS-Fusion-FAST这个不能进行数据及测试吗，我想看看fast角点检测在这中VINS里面的效果怎么样。

可以直接复制VINS-FUSION中的配置文件进行测试

你好，我将你这个软件包下载好后，将catkin_VINS_FAST/src/VINS-Fusion-FAST里面的config文件夹用VINS-Fusion里面的config文件夹来替换，，cmake_make成功编译后在执行rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml却一直报错，看错误原因有殿无从下手，不知怎么处理 chen@chen:~/catkin_VINS_FAST$ rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml [ INFO] [1640773791.605492578]: init begins config_file: /home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /imu0 result path ~/output//vio.csv [ WARN] [1640773791.610249601]: fix extrinsic param camera number 2 OpenCV Error: Assertion failed (!fixedSize()) in release, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 2625 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:2625: error: (-215) !fixedSize() in function release Stack trace (most recent call last): #15 Object "", at 0xffffffffffffffff, in #14 Object "/home/chen/catkin_VINS_FAST/devel/lib/vins/vins_node", at 0x5631a0905819, in _start #13 Source "../csu/libc-start.c", line 310, in __libc_start_main [0x7f4df3f87bf6] #12 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp", line 192, in main [0x5631a09043db] 189: string config_file = argv[1]; 190: printf("config_file: %s\n", argv[1]); 191: > 192: readParameters(config_file); 193: estimator.setParameter(); 194: 195: #ifdef EIGEN_DONT_PARALLELIZE #11 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/estimator/parameters.cpp", line 183, in readParameters [0x7f4df5dcc665] 180: cv::Mat cv_center_T_imu; 181: fsSettings["center_T_imu"] >> cv_center_T_imu; 182: Eigen::Matrix4d T_temp; > 183: cv::cv2eigen(cv_center_T_imu, T_temp); 184: center_R_imu = T_temp.block<3, 3>(0, 0); 185: center_T_imu = T_temp.block<3, 1>(0, 3); #10 Source "/usr/local/include/opencv2/core/eigen.hpp", line 108, in cv2eigen<double, 4, 4, 0, 4, 4> [0x7f4df5dcb61a] 105: else if( src.cols == src.rows ) 106: { 107: src.convertTo(_dst, _dst.type()); > 108: transpose(_dst, _dst); 109: } 110: else 111: Mat(src.t()).convertTo(_dst, _dst.type()); #9 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5636f82, in cv::transpose(cv::_InputArray const&, cv::_OutputArray const&) #8 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5633378, in cv::_OutputArray::release() const #7 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa9be, in cv::error(int, cv::String const&, char const*, char const*, int) #6 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa8a1, in cv::error(cv::Exception const&) #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601d53, in __cxa_throw #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601b20, in std::terminate() #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601ae5, in #2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df45fb956, in #1 Source "/build/glibc-S9d2JN/glibc-2.27/stdlib/abort.c", line 79, in abort [0x7f4df3fa6920] #0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f4df3fa4fb7] Aborted (Signal sent by tkill() 32055 1000) 已放弃 (核心已转储)

yaml文件补充
center_T_imu: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 1.0, 0.0,0.0, 0.0,
           0.0, 1.0,0.0, 0.0,
           0.0, 0.0, 1.0, 0.0, 
           0.0, 0.0, 0.0, 1.0 ]

yaml`文件补充后执行rosbag play /home/chen/datas/MH_01_easy.bag又报这种奇怪的错误，

`chen@chen:~/catkin_fast$ rosbag play /home/chen/datas/MH_01_easy.bag [ INFO] [1640786352.420518342]: Opening /home/chen/datas/MH_01_easy.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [ERROR] [1640786352.743479605]: Client [/vins_estimator] wants topic /cam0/image_raw to have datatype/md5sum [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection. [ERROR] [1640786352.743565645]: Client [/vins_estimator] wants topic /cam1/image_raw to have datatype/md5sum [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection. [RUNNING] Bag Time: 1403636587.952238 Duration: 9.006032 / 187.749443 `

jianhengLiu commented 2 years ago

你好，我刚刚在准备测试euroc数据集时，执行rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion-FAST/config/euroc/euroc_mono_imu_config.yaml 发现config文件里面没有euroc文件，VINS-Fusion-FAST这个不能进行数据及测试吗，我想看看fast角点检测在这中VINS里面的效果怎么样。

可以直接复制VINS-FUSION中的配置文件进行测试

你好，我将你这个软件包下载好后，将catkin_VINS_FAST/src/VINS-Fusion-FAST里面的config文件夹用VINS-Fusion里面的config文件夹来替换，，cmake_make成功编译后在执行rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml却一直报错，看错误原因有殿无从下手，不知怎么处理 chen@chen:~/catkin_VINS_FAST$ rosrun vins vins_node ~/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml [ INFO] [1640773791.605492578]: init begins config_file: /home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml USE_IMU: 1 IMU_TOPIC: /imu0 result path ~/output//vio.csv [ WARN] [1640773791.610249601]: fix extrinsic param camera number 2 OpenCV Error: Assertion failed (!fixedSize()) in release, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 2625 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:2625: error: (-215) !fixedSize() in function release Stack trace (most recent call last): #15 Object "", at 0xffffffffffffffff, in #14 Object "/home/chen/catkin_VINS_FAST/devel/lib/vins/vins_node", at 0x5631a0905819, in _start #13 Source "../csu/libc-start.c", line 310, in __libc_start_main [0x7f4df3f87bf6] #12 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/rosNodeTest.cpp", line 192, in main [0x5631a09043db] 189: string config_file = argv[1]; 190: printf("config_file: %s\n", argv[1]); 191: > 192: readParameters(config_file); 193: estimator.setParameter(); 194: 195: #ifdef EIGEN_DONT_PARALLELIZE #11 Source "/home/chen/catkin_VINS_FAST/src/VINS-Fusion-FAST/vins_estimator/src/estimator/parameters.cpp", line 183, in readParameters [0x7f4df5dcc665] 180: cv::Mat cv_center_T_imu; 181: fsSettings["center_T_imu"] >> cv_center_T_imu; 182: Eigen::Matrix4d T_temp; > 183: cv::cv2eigen(cv_center_T_imu, T_temp); 184: center_R_imu = T_temp.block<3, 3>(0, 0); 185: center_T_imu = T_temp.block<3, 1>(0, 3); #10 Source "/usr/local/include/opencv2/core/eigen.hpp", line 108, in cv2eigen<double, 4, 4, 0, 4, 4> [0x7f4df5dcb61a] 105: else if( src.cols == src.rows ) 106: { 107: src.convertTo(_dst, _dst.type()); > 108: transpose(_dst, _dst); 109: } 110: else 111: Mat(src.t()).convertTo(_dst, _dst.type()); #9 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5636f82, in cv::transpose(cv::_InputArray const&, cv::_OutputArray const&) #8 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df5633378, in cv::_OutputArray::release() const #7 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa9be, in cv::error(int, cv::String const&, char const*, char const*, int) #6 Object "/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0", at 0x7f4df56aa8a1, in cv::error(cv::Exception const&) #5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601d53, in __cxa_throw #4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601b20, in std::terminate() #3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df4601ae5, in #2 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.25", at 0x7f4df45fb956, in #1 Source "/build/glibc-S9d2JN/glibc-2.27/stdlib/abort.c", line 79, in abort [0x7f4df3fa6920] #0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7f4df3fa4fb7] Aborted (Signal sent by tkill() 32055 1000) 已放弃 (核心已转储)

yaml文件补充
center_T_imu: !!opencv-matrix
   rows: 4
   cols: 4
   dt: d
   data: [ 1.0, 0.0,0.0, 0.0,
           0.0, 1.0,0.0, 0.0,
           0.0, 0.0, 1.0, 0.0, 
           0.0, 0.0, 0.0, 1.0 ]
yaml`文件补充后执行rosbag play /home/chen/datas/MH_01_easy.bag又报这种奇怪的错误，

`chen@chen:~/catkin_fast$ rosbag play /home/chen/datas/MH_01_easy.bag [ INFO] [1640786352.420518342]: Opening /home/chen/datas/MH_01_easy.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [ERROR] [1640786352.743479605]: Client [/vins_estimator] wants topic /cam0/image_raw to have datatype/md5sum [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection. [ERROR] [1640786352.743565645]: Client [/vins_estimator] wants topic /cam1/image_raw to have datatype/md5sum [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection. [RUNNING] Bag Time: 1403636587.952238 Duration: 9.006032 / 187.749443 `

这是因为这个系统期望在带宽受限情况下也可以应用，因此采用的压缩图像节点。你可以通过下列方法解决上疏问题：

rosrun image_transport republish raw in:=/cam0/image_raw compressed out:=/cam0/image_raw
rosrun image_transport republish raw in:=/cam1/image_raw compressed out:=/cam1/image_raw

wcm-123 commented 2 years ago

你好，我在/home/chen/catkin_fast路径下打开了两个终端分别执行 rosrun image_transport republish raw in:=/cam0/image_raw compressed out:=/cam0/image_raw rosrun image_transport republish raw in:=/cam1/image_raw compressed out:=/cam1/image_raw 然后在新终端下继续执行rosbag play /home/chen/datas/MH_01_easy.bag时，依然报这种错误 `chen@chen:~/catkin_fast$ rosbag play /home/chen/datas/MH_01_easy.bag [ INFO] [1640786352.420518342]: Opening /home/chen/datas/MH_01_easy.bag

Waiting 0.2 seconds after advertising topics... done.

jianhengLiu commented 2 years ago

你好，我在/home/chen/catkin_fast路径下打开了两个终端分别执行 rosrun image_transport republish raw in:=/cam0/image_raw compressed out:=/cam0/image_raw rosrun image_transport republish raw in:=/cam1/image_raw compressed out:=/cam1/image_raw 然后在新终端下继续执行rosbag play /home/chen/datas/MH_01_easy.bag时，依然报这种错误 `chen@chen:~/catkin_fast$ rosbag play /home/chen/datas/MH_01_easy.bag [ INFO] [1640786352.420518342]: Opening /home/chen/datas/MH_01_easy.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [ERROR] [1640786352.743479605]: Client [/vins_estimator] wants topic /cam0/image_raw to have datatype/md5sum [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection. [ERROR] [1640786352.743565645]: Client [/vins_estimator] wants topic /cam1/image_raw to have datatype/md5sum [sensor_msgs/CompressedImage/8f7a12909da2c9d3332d540a0977563f], but our version has [sensor_msgs/Image/060021388200f6f0f447d0fcd9c64743]. Dropping connection. [RUNNING] Bag Time: 1403636587.952238 Duration: 9.006032 / 187.749443`

在config文件中将每个图像节点更换为对应压缩图像节点，如/cam1/image_raw/compressed

wcm-123 commented 2 years ago

/cam1/image_raw/compressed

我将euroc_stereo_imu_config.yaml文件中的image0_topic: "/cam0/image_raw"和image1_topic: "/cam1/image_raw"用image0_topic: "/cam0/image_raw/compressed"及image1_topic: "/cam1/image_raw/compressed"替换后，在终端执行之前同样的操作时即执行rosrun vins vins_node ~/catkin_fast/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml 命令时，他就一直显示[ WARN] [1640795794.689215597]: waiting for image and imu...，rviz中没有任何显示。而当我执行rosrun loop_fusion loop_fusion_node ~/catkin_fast/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml ，就一直显示VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph，rviz中也没有任何显示，

jianhengLiu commented 2 years ago

/cam1/image_raw/compressed

我将euroc_stereo_imu_config.yaml文件中的image0_topic: "/cam0/image_raw"和image1_topic: "/cam1/image_raw"用image0_topic: "/cam0/image_raw/compressed"及image1_topic: "/cam1/image_raw/compressed"替换后，在终端执行之前同样的操作时即执行rosrun vins vins_node ~/catkin_fast/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml 命令时，他就一直显示[ WARN] [1640795794.689215597]: waiting for image and imu...，rviz中没有任何显示。而当我执行rosrun loop_fusion loop_fusion_node ~/catkin_fast/src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml ，就一直显示VIO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph，rviz中也没有任何显示，

Sorry for the incomplete project as I just modified the origin project for tests. You can now check for the newly updated version 4a471e021eed201ecf6ffd2ad4e75cf61c715bfe There should be an example for euroc datasets, and it works fine on my computer. I also modified files in pose_graph, therefore, it is suggested to pull the resposity. If there are any other questions, feel free to discuss

wcm-123 commented 2 years ago

Thank you, I will try it.

wcm-123 commented 2 years ago

我在运行所有命令后，rviz也打开了，但此时rviz里面始终没有任何轨迹显示，与此同时执行完roslaunch vins vins_rviz.launch命令后，该终端下就一直报这种错误， [ WARN] [1640838451.774282964]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838511.806848255]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838571.838751066]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information.

并且在执行rosrun loop_fusion loop_fusion_node src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml后该终端下显示VO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph且只停留在这里显示这个

jianhengLiu commented 2 years ago

我在运行所有命令后，rviz也打开了，但此时rviz里面始终没有任何轨迹显示，与此同时执行完roslaunch vins vins_rviz.launch命令后，该终端下就一直报这种错误， [ WARN] [1640838451.774282964]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838511.806848255]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838571.838751066]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information.

并且在执行rosrun loop_fusion loop_fusion_node src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml后该终端下显示VO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph且只停留在这里显示这个

请保证每个终端运行命令前执行source devel/setup.bash，同时建议使用单独的终端进行roscore，如果还是不行的话可以尝试重新clone并重新编译，或许pull与本地文件有冲突

wcm-123 commented 2 years ago

我在运行所有命令后，rviz也打开了，但此时rviz里面始终没有任何轨迹显示，与此同时执行完roslaunch vins vins_rviz.launch命令后，该终端下就一直报这种错误， [ WARN] [1640838451.774282964]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838511.806848255]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838571.838751066]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. 并且在执行rosrun loop_fusion loop_fusion_node src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml后该终端下显示VO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph且只停留在这里显示这个

请保证每个终端运行命令前执行source devel/setup.bash，同时建议使用单独的终端进行roscore，如果还是不行的话可以尝试重新clone并重新编译，或许pull与本地文件有冲突

我换了三台电脑，rviz里面有点云但没有轨迹，按你的提示专门打开一个新终端用来执行roscore(该终端下没有执行source devel/setup.bash),执行roslaunch vins vins_rviz.launch命令的终端下依然是一直显示 [ WARN] [1640838451.774282964]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838511.806848255]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838571.838751066]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information.在另一个新终端下改用执行回环 rosrun loop_fusion loop_fusion_node src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml ，该终端下依然显示VO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph。然后我根据VINS-Fusion修改文件，目的是输出轨迹文件，结果编译成功，在运行各命令时依然出现修改之前一样的问题，轨迹文件也没法保存

jianhengLiu commented 2 years ago

我在运行所有命令后，rviz也打开了，但此时rviz里面始终没有任何轨迹显示，与此同时执行完roslaunch vins vins_rviz.launch命令后，该终端下就一直报这种错误， [ WARN] [1640838451.774282964]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838511.806848255]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838571.838751066]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. 并且在执行rosrun loop_fusion loop_fusion_node src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml后该终端下显示VO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph且只停留在这里显示这个

请保证每个终端运行命令前执行source devel/setup.bash，同时建议使用单独的终端进行roscore，如果还是不行的话可以尝试重新clone并重新编译，或许pull与本地文件有冲突

我换了三台电脑，rviz里面有点云但没有轨迹，按你的提示专门打开一个新终端用来执行roscore(该终端下没有执行source devel/setup.bash),执行roslaunch vins vins_rviz.launch命令的终端下依然是一直显示 [ WARN] [1640838451.774282964]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838511.806848255]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information. [ WARN] [1640838571.838751066]: MessageFilter [target=world ]: Dropped 100.00% of messages so far. Please turn the [ros.rviz.message_filter] rosconsole logger to DEBUG for more information.在另一个新终端下改用执行回环 rosrun loop_fusion loop_fusion_node src/VINS-Fusion-FAST/config/euroc/euroc_stereo_imu_config.yaml ，该终端下依然显示VO input, perfrom 4 DoF (x, y, z, yaw) pose graph optimization no previous pose graph。然后我根据VINS-Fusion修改文件，目的是输出轨迹文件，结果编译成功，在运行各命令时依然出现修改之前一样的问题，轨迹文件也没法保存

不好意思，我也不太清楚这是什么原因，请问你有尝试过原版的VINS-Fusion是否也存在这个问题？这份代码是由https://github.com/HKUST-Aerial-Robotics/Teach-Repeat-Replan/tree/experiment/onboard_computer/localization/VINS-Fusion 的基础上改的，或者也可以先尝试运行这个是否也有问题？非常抱歉！