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luigifreda / plvs

PLVS is a real-time SLAM system with points, lines, volumetric mapping and 3D unsupervised incremental segmentation.
GNU General Public License v3.0
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HTTP error in Docker Environment #37

Closed LoganCome closed 1 month ago

LoganCome commented 2 months ago

Dear author,

I have successfully installed this project in docker container(noetic_cuda), but we i build the ros with running sudo ./build.sh, I met the following error:

usr/bin/ld: warning: libcudnn.so.8, needed by ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0, not found (try using -rpath or -rpath-link)
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetActivationDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyConvolutionDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetRNNWorkspaceSize@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnConvolutionBackwardData@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolutionGroupCount@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetErrorString@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDivisiveNormalizationForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetPoolingNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolutionNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetTensorNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionBackwardDataAlgorithm_v7@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateTensorDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroy@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionForwardAlgorithmMaxCount@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionForwardAlgorithm_v7@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyTensorTransformDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateActivationDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolution2dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetTensorSizeInBytes@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolutionMathType@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionBackwardDataAlgorithmMaxCount@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSoftmaxForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreate@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyFilterDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetStream@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateDropoutDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetVersion@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetFilter4dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetLRNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnRNNForwardInference@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetRNNDescriptor_v6@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateFilterDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyDropoutDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreatePoolingDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyPoolingDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyTensorDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetDropoutDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetTensorNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateRNNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnPoolingForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyLRNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetPooling2dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDropoutGetStatesSize@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnTransformTensorEx@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetFilterNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionNdForwardOutputDim@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateLRNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyActivationDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyRNNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnConvolutionBiasActivationForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnLRNCrossChannelForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateTensorTransformDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetTensor4dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnConvolutionForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetTensorTransformDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateConvolutionDescriptor@libcudnn.so.8'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/mono_inertial_tum_vi_old.dir/build.make:306: ../Examples_old/Monocular-Inertial/mono_inertial_tum_vi_old] Error 1
make[1]: *** [CMakeFiles/Makefile2:228: CMakeFiles/mono_inertial_tum_vi_old.dir/all] Error 2
/usr/bin/ld: warning: libcudnn.so.8, needed by ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0, not found (try using -rpath or -rpath-link)
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetActivationDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyConvolutionDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetRNNWorkspaceSize@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnConvolutionBackwardData@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolutionGroupCount@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetErrorString@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDivisiveNormalizationForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetPoolingNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolutionNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetTensorNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionBackwardDataAlgorithm_v7@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateTensorDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroy@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionForwardAlgorithmMaxCount@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionForwardAlgorithm_v7@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyTensorTransformDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateActivationDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolution2dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetTensorSizeInBytes@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetConvolutionMathType@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionBackwardDataAlgorithmMaxCount@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSoftmaxForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreate@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyFilterDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetStream@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateDropoutDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetVersion@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetFilter4dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetLRNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnRNNForwardInference@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetRNNDescriptor_v6@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateFilterDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyDropoutDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreatePoolingDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyPoolingDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyTensorDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetDropoutDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetTensorNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateRNNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnPoolingForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyLRNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetPooling2dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDropoutGetStatesSize@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnTransformTensorEx@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetFilterNdDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnGetConvolutionNdForwardOutputDim@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateLRNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyActivationDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnDestroyRNNDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnConvolutionBiasActivationForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnLRNCrossChannelForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateTensorTransformDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetTensor4dDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnConvolutionForward@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnSetTensorTransformDescriptor@libcudnn.so.8'
/usr/bin/ld: ../Thirdparty/opencv/install/lib/libopencv_dnn.so.4.10.0: undefined reference to `cudnnCreateConvolutionDescriptor@libcudnn.so.8'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/stereo_inertial_tum_vi_old.dir/build.make:306: ../Examples_old/Stereo-Inertial/stereo_inertial_tum_vi_old] Error 1
make[1]: *** [CMakeFiles/Makefile2:255: CMakeFiles/stereo_inertial_tum_vi_old.dir/all] Error 2
luigifreda commented 2 months ago

Hi, thanks for your feedback. Why are you using sudo to run the build command? Are you sure you're running that build.sh inside the docker container?

Will test it again under noetic_cuda soon.

LoganCome commented 1 month ago

@luigifreda Thanks for your reply! Followed your advice, I have succeed in build the plvs project under noetic_cuda without sudo!

Unfortunately, When I run the example program of ros: ./ros_xterm_tum_rgbd.sh. (I try with the rgbd_dataset_freiburg3_long_office_household.bag). There is another issue:

  1. In the xterm's window, There is only current point cloud but without the map that has built: Screenshot 2024-08-26 13:58:28

  2. It seems that only several frames can be displayed: Screenshot 2024-08-26 13:58:52

luigifreda commented 1 month ago

Great!

  1. You can press the GUI buttons "Show points", "Show lines", "Show Keyframes" and "Show graph" to get the sparse map (if that is what you want to see). These buttons are normally enabled by default. It's weird you don't have them automatically enabled on your GUI. Never saw them disabled by default.

  2. I am not sure what you mean. Probably, you may have hit the issue referred here https://github.com/luigifreda/plvs/blob/cdc75c0572b1223cabda95ec11e9e051491597a0/Scripts/ros_xterm_tum_rgbd.sh#L15 To solve it (as mentioned in the script comment), you have to decompress the tum bags or, as a quick hack, play the tum bags at half rate.

LoganCome commented 1 month ago

@luigifreda Dear author, thanks a lot for your reply, for the second issue, I record a video as the following:

https://drive.google.com/file/d/19Zym0A-Ha2PGVp6Ccox-To-rAOWzBH4l/view?usp=drive_link

As you can see in the video, it seems that the final map is an incomplete map. How to display the full map? I really want to realize the effect present on the project's homepage, it's so amazing! Screenshot 2024-08-26 17:42:30

luigifreda commented 1 month ago

Hi @LoganCome, There are a couple of issues with that dataset.

  1. The issues mentioned here with TUM datasets. You have to decompress the TUM bags to avoid playback time discontinuities. Further details here.
  2. AFAIR, some of the robot TUM bags present "spatial jumps" (some small video subsequences are missing) and this makes SLAM very challenging (so you may get relocalization failures or track losses).
  3. If your laptop/PC is not powerful enough and you set a too-high spatial resolution for dense mapping, your machine may be not able to support all the threads' required computations, and some frames may be skipped/dropped by sparse SLAM.

As for enabling the geometric segmentation, you need to enable the flag Segmentation.on in the yaml settings. Please refer to this file for further details https://github.com/luigifreda/plvs/blob/master/new_features.md