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rpng / ov_maplab

Interface for OpenVINS with the maplab project
https://docs.openvins.com/
GNU General Public License v3.0
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Which version of openCV do you use? #1

Closed wangminhang closed 4 years ago

wangminhang commented 4 years ago

Great work! As you said, openvins use 3.4.6, but maplab use 3.2.0, so how to compile successfully? Thank you!

goldbattle commented 4 years ago

Do you have a specific error you are getting from building? You might need to specify in open_vins/ov_core/CMakeLists.txt a minor version number if you are getting an aruco tag error on ov_core building. Change the following:

find_package(OpenCV 3 REQUIRED)

to one of the following

find_package(OpenCV 3.3 REQUIRED)
find_package(OpenCV 3.4 REQUIRED)
wangminhang commented 4 years ago

ok, generally speaking，how to build ov_maplab after maplab and open_vins have built in different catkin workspace? Put ov_maplab to which catkin_ws? And how to build so that it can find vi_map lib and so on. Could maplab and ov_maplab use different version of opencv?

goldbattle commented 4 years ago

Clone both open_vins and ov_maplab into the same workspace which has maplab and maplab_dependencies cloned into it also. Then build using catkin build ov_maplab and that should build the vi_map etc before hand.

If you run into opencv errors, please post after first changing as per my comment above to get the ros default (3.3.1 should be included with kinetic) or your local install.

wangminhang commented 4 years ago

yeah, In maplab_dependencies/3rdparty/opencv3_catkin/CMakeList , it download opencv 3.2.0, so the whole package in maplab use this version. when run catkin build ov_maplab, 

In file included from ~/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.cpp:21:0:
~/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h:25:29: fatal error: opencv2/aruco.hpp: No such file or directory
compilation terminated.
make[2]: *** [CMakeFiles/ov_core_lib.dir/src/track/TrackAruco.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from ~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.h:38:0,
                 from ~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.cpp:21:
~/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h: In static member function ‘static void ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)’:
~/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h:125:14: error: invalid initialization of reference of type ‘const cv::ParallelLoopBody&’ from expression of type ‘ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)::<lambda(const cv::Range&)>’
             });
              ^
In file included from ~/maplab_ros/devel/include/opencv2/core.hpp:3216:0,
                 from ~/maplab_ros/devel/include/opencv2/core/types_c.h:101,
                 from ~/maplab_ros/devel/include/opencv2/core/core_c.h:48,
                 from ~/maplab_ros/devel/include/opencv/cv.h:63,
                 from ~/maplab_ros/devel/include/opencv/cv.hpp:50,
                 from ~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.h:34,
                 from ~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.cpp:21:
~/maplab_ros/devel/include/opencv2/core/utility.hpp:478:17: note: in passing argument 2 of ‘void cv::parallel_for_(const cv::Range&, const cv::ParallelLoopBody&, double)’
 CV_EXPORTS void parallel_for_(const Range& range, const ParallelLoopBody& body, double nstripes=-1.);
                 ^
make[2]: *** [CMakeFiles/ov_core_lib.dir/src/track/TrackBase.cpp.o] Error 1
make[1]: *** [CMakeFiles/ov_core_lib.dir/all] Error 2
make: *** [all] Error 2

opencv version in /user/local/lib is 3.4.6

goldbattle commented 4 years ago

Can you try editing the function in ov_core/src/track/Grider_FAST.h to the following:

static void perform_griding(const cv::Mat &img, std::vector<cv::KeyPoint> &pts, int num_features,
                            int grid_x, int grid_y, int threshold, bool nonmaxSuppression) {
    // Calculate the size our extraction boxes should be
    int size_x = img.cols / grid_x;
    int size_y = img.rows / grid_y;
    // Make sure our sizes are not zero
    assert(size_x > 0);
    assert(size_y > 0);
    // We want to have equally distributed features
    auto num_features_grid = (int) (num_features / (grid_x * grid_y)) + 1;
    // Lets loop through each grid and extract features
    for (int x = 0; x < img.cols; x += size_x) {
        for (int y = 0; y < img.rows; y += size_y) {
            // Skip if we are out of bounds
            if (x + size_x > img.cols || y + size_y > img.rows)
                continue;
            // Calculate where we should be extracting from
            cv::Rect img_roi = cv::Rect(x, y, size_x, size_y);
            // Extract FAST features for this part of the image
            std::vector<cv::KeyPoint> pts_new;
            cv::FAST(img(img_roi), pts_new, threshold, nonmaxSuppression);
            // Now lets get the top number from this
            std::sort(pts_new.begin(), pts_new.end(), Grider_FAST::compare_response);
            // Append the "best" ones to our vector
            // Note that we need to "correct" the point u,v since we extracted it in a ROI
            // So we should append the location of that ROI in the image
            for (size_t i = 0; i < (size_t) num_features_grid && i < pts_new.size(); i++) {
                cv::KeyPoint pt_cor = pts_new.at(i);
                pt_cor.pt.x += x;
                pt_cor.pt.y += y;
                pts.push_back(pt_cor);
            }
        }
    }
}

Originally it was not multi-threaded but I am not sure why opencv 3.4.6 is giving issues. I remember I had this at some point, and not sure how I fixed it.

wangminhang commented 4 years ago

huge errors. Can open_vins and ov_maplab build with opencv 3.2.0?

goldbattle commented 4 years ago

No it won't, can you build with 3.3? The aruco module isn't included with the 3.2 that maplab uses so there are some issues there with trying to link to it. Can you post what errors you are getting?

edit: I would also ensure you do a catkin clean between changes so you don't have cmake things cached.

wangminhang commented 4 years ago 
In file included from~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.h:38:0,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.cpp:21:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h: In static member function ‘static void ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)’:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h:125:14: error: invalid initialization of reference of type ‘const cv::ParallelLoopBody&’ from expression of type ‘ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)::<lambda(const cv::Range&)>’
             });
              ^
In file included from~/maplab_ros/devel/include/opencv2/core.hpp:3216:0,
                 from~/maplab_ros/devel/include/opencv2/core/types_c.h:101,
                 from~/maplab_ros/devel/include/opencv2/core/core_c.h:48,
                 from~/maplab_ros/devel/include/opencv/cv.h:63,
                 from~/maplab_ros/devel/include/opencv/cv.hpp:50,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.h:34,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.cpp:21:
/home/robot/vslam/maplab_ros/devel/include/opencv2/core/utility.hpp:478:17: note: in passing argument 2 of ‘void cv::parallel_for_(const cv::Range&, const cv::ParallelLoopBody&, double)’
 CV_EXPORTS void parallel_for_(const Range& range, const ParallelLoopBody& body, double nstripes=-1.);
                 ^
In file included from~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.h:38:0,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h:27,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.cpp:21:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h: In static member function ‘static void ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)’:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h:125:14: error: invalid initialization of reference of type ‘const cv::ParallelLoopBody&’ from expression of type ‘ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)::<lambda(const cv::Range&)>’
             });
              ^
In file included from~/maplab_ros/devel/include/opencv2/core.hpp:3216:0,
                 from~/maplab_ros/devel/include/opencv2/aruco.hpp:42,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h:25,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.cpp:21:
/home/robot/vslam/maplab_ros/devel/include/opencv2/core/utility.hpp:478:17: note: in passing argument 2 of ‘void cv::parallel_for_(const cv::Range&, const cv::ParallelLoopBody&, double)’
 CV_EXPORTS void parallel_for_(const Range& range, const ParallelLoopBody& body, double nstripes=-1.);
                 ^
In file included from~/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.cpp:21:0:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h: In constructor ‘ov_core::TrackAruco::TrackAruco()’:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h:48:27: error: ‘struct cv::aruco::DetectorParameters’ has no member named ‘cornerRefinementMethod’
             aruco_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX; // people with newer opencv might fail here
                           ^
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h:48:63: error: ‘cv::aruco::CornerRefineMethod’ has not been declared
             aruco_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX; // people with newer opencv might fail here
                                                               ^
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h: In constructor ‘ov_core::TrackAruco::TrackAruco(int, bool)’:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h:59:27: error: ‘struct cv::aruco::DetectorParameters’ has no member named ‘cornerRefinementMethod’
             aruco_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX; // people with newer opencv might fail here
                           ^
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/TrackAruco.h:59:63: error: ‘cv::aruco::CornerRefineMethod’ has not been declared
             aruco_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX; // people with newer opencv might fail here
                                                               ^
In file included from~/maplab_ros/src/open_vins/ov_core/src/track/TrackBase.h:38:0,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackDescriptor.h:27,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackDescriptor.cpp:21:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h: In static member function ‘static void ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)’:
/home/robot/vslam/maplab_ros/src/open_vins/ov_core/src/track/Grider_FAST.h:125:14: error: invalid initialization of reference of type ‘const cv::ParallelLoopBody&’ from expression of type ‘ov_core::Grider_FAST::perform_griding(const cv::Mat&, std::vector<cv::KeyPoint>&, int, int, int, int, bool)::<lambda(const cv::Range&)>’
             });
              ^
In file included from~/maplab_ros/devel/include/opencv2/core.hpp:3216:0,
                 from~/maplab_ros/devel/include/opencv2/features2d.hpp:46,
                 from~/maplab_ros/devel/include/opencv2/xfeatures2d.hpp:42,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackDescriptor.h:25,
                 from~/maplab_ros/src/open_vins/ov_core/src/track/TrackDescriptor.cpp:21:
/home/robot/vslam/maplab_ros/devel/include/opencv2/core/utility.hpp:478:17: note: in passing argument 2 of ‘void cv::parallel_for_(const cv::Range&, const cv::ParallelLoopBody&, double)’
 CV_EXPORTS void parallel_for_(const Range& range, const ParallelLoopBody& body, double nstripes=-1.);
                 ^
make[2]: *** [CMakeFiles/ov_core_lib.dir/src/track/TrackBase.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/ov_core_lib.dir/src/track/TrackAruco.cpp.o] Error 1
make[2]: *** [CMakeFiles/ov_core_lib.dir/src/track/TrackDescriptor.cpp.o] Error 1
make[1]: *** [CMakeFiles/ov_core_lib.dir/all] Error 2
make: *** [all] Error 2
wangminhang commented 4 years ago

Finally, I use opencv3_catkin master branch build maplab and ov_maplab successfully, who use opencv 3.4.2. thanks for your help @goldbattle

goldbattle commented 4 years ago

Just now getting back to this. I have added detailed install guide on the specific branch needed and the commands I use to build it: https://github.com/rpng/ov_maplab#installation-commands

# need to fix the opencv to build with a 3.4.x version
cd maplab_dependencies/3rdparty/opencv3_catkin/
git checkout feature/3.4.2