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rubengooj / pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.
GNU General Public License v3.0
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can it run sucessfully now？ #15

Closed cumtchenchang closed 6 years ago

cumtchenchang commented 6 years ago

I can not build it sucessfully due to lacking some code.

JajaIstso commented 6 years ago

@cumtchenchang do you miss some header files during build? Had this issue. Found a work around by changing the CMakeLists.txt . And of course the vocabularypath in the config.yaml. Changed the highlighted lines:

Include dirs include_directories( include ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${YAML_CPP_INCLUDE_DIRS} ${StVO_INCLUDE_DIR}
#${PROJECT_SOURCE_DIR}/../stvo-pl/include/ ${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/include/ ${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/include/ ${G2O_INCLUDE_DIR} /usr/include/suitesparse # for cholmod ) Set link libraries list(APPEND LINK_LIBS ${OpenCV_LIBS} ${Boost_LIBRARIES} ${YAML_CPP_LIBRARIES} ${G2O_LIBS} ${StVO_LIBRARY} #${PROJECT_SOURCE_DIR}/../stvo-pl/lib/libstvo.so
${PROJECT_SOURCE_DIR}/3rdparty/DBoW2/lib/libDBoW2.so ${PROJECT_SOURCE_DIR}/3rdparty/line_descriptor/lib/liblinedesc.so )

cumtchenchang commented 6 years ago

@JajaIstso When I make, I encounte this error. I want to know which software can provide and . Thank you. In file included from /home/cc/code/pl-slam-master/src/slamConfig.cpp:23:0: /home/cc/code/pl-slam-master/include/slamConfig.h:26:10: fatal error: config.h: No such file or directory

include 

      ^~~~~~~~~~

compilation terminated. CMakeFiles/plslam.dir/build.make:134: recipe for target 'CMakeFiles/plslam.dir/src/slamConfig.cpp.o' failed make[2]: [CMakeFiles/plslam.dir/src/slamConfig.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... In file included from /home/cc/code/pl-slam-master/src/keyFrame.cpp:23:0: /home/cc/code/pl-slam-master/include/keyFrame.h:35:10: fatal error: auxiliar.h: No such file or directory

include 

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

compilation terminated. CMakeFiles/plslam.dir/build.make:110: recipe for target 'CMakeFiles/plslam.dir/src/keyFrame.cpp.o' failed make[2]: *** [CMakeFiles/plslam.dir/src/keyFrame.cpp.o] Error 1 In file included from /home/cc/code/pl-slam-master/include/mapHandler.h:53:0, from /home/cc/code/pl-slam-master/src/mapHandler.cpp:23: /home/cc/code/pl-slam-master/include/slamConfig.h:26:10: fatal error: config.h: No such file or directory

include

JajaIstso commented 6 years ago

@cumtchenchang You need to download https://github.com/rubengooj/stvo-pl Build it and insert the path to it in cmake. If you do it the easyway do it with ccmake. Scroll all the way down. One of the lowest point is the path to plstvo. Commit 4 was allready containing the path. Commit 5 now linking against the library.

It should also be mentioned that DATASET_PATH now is called DATASET_DIR.

cumtchenchang commented 6 years ago

@JajaIstso I tried build stvo-pl,but I also encounter the error CMake Error at /usr/share/mrpt/MRPTConfig.cmake:223 (MESSAGE): ERROR: MRPT_FIND_COMPONENTS contains 'mrpt-base', not built in mrpt (built ones: mrpt-expr;mrpt-core;mrpt-comms;mrpt-hwdrivers;mrpt-nanoflann;mrpt-bayes;mrpt-typemeta;mrpt-tfest;mrpt-db;mrpt-opengl;mrpt-containers;mrpt-tclap;mrpt-slam;mrpt-detectors;mrpt-img;mrpt-topography;mrpt-config;mrpt-gui;mrpt-kinematics;mrpt-nav;mrpt-graphslam;mrpt-io;mrpt-poses;mrpt-maps;mrpt-serialization;mrpt-rtti;mrpt-system;mrpt-hmtslam;mrpt-obs;mrpt-vision;mrpt-graphs;mrpt-math;mrpt-random) Call Stack (most recent call first): CMakeLists.txt:27 (find_package) I installed the mrpt, but the error is still on.

JajaIstso commented 6 years ago

@cumtchenchang Did you also took the branch suggested? https://github.com/MRPT/mrpt/tree/0c3d605c3cbf5f2ffb8137089e43ebdae5a55de3 For me it worked. But I just build mrpt and didn't installed it. Than I inserted the right path in ccmake for stvo-pl.

cumtchenchang commented 6 years ago

Thank you for your help. I use apt-get installl sucessfully ,but can not build it successfully. can you sent your MRPTConfig.cmake for me? my email is 1253419722@qq.com. Thank you.