search

stella-cv / stella_vslam_ros

ROS package for stella_vslam
https://stella-cv.rtfd.io/en/latest/
Other
117 stars 77 forks source link

Panglolian Viewer Is Not Launching- ROS1 #145

Closed Basavaraj-PN closed 1 year ago

Basavaraj-PN commented 1 year ago

Panglolian Viewer Is Not Launching

ROS version : ROS1 - Noetic


[2023-07-18 08:19:56.790] [I] config file loaded: rsd45i.yaml
[2023-07-18 08:19:56.790] [I] 
original version of OpenVSLAM,
Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.
stella_vslam (the changes after forking from OpenVSLAM),
Copyright (C) 2022, stella-cv, All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.

Camera:
  name: RealSense D435
  setup: monocular
  model: perspective
  fx: 394.6245658278391
  fy: 396.76644306319304
  cx: 325.7808195992459
  cy: 240.31989659521147
  k1: 0.3057200243162536
  k2: 0.5488136084964392
  p1: 0.0
  p2: 0.0
  k3: -1.4410258106972014
  k4: 1.7465621731779835
  fps: 10.0
  cols: 640
  rows: 480
  color_order: RGB
Preprocessing:
  min_size: 500
Feature:
  name: ORB feature extraction setting
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7
Mapping:
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.9
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20
PangolinViewer:
  keyframe_size: 0.05
  keyframe_line_width: 1
  graph_line_width: 1
  point_size: 2
  camera_size: 0.08
  camera_line_width: 3
  viewpoint_x: 0
  viewpoint_y: -0.9
  viewpoint_z: -1.9
  viewpoint_f: 400

[2023-07-18 08:19:56.790] [I] loading ORB vocabulary: orb_vocab.fbow
[2023-07-18 08:19:56.802] [I] load orb_params "ORB feature extraction setting"
[2023-07-18 08:19:56.803] [I] startup SLAM system
[2023-07-18 08:19:56.803] [I] start mapping module
[2023-07-18 08:19:56.803] [I] start global optimization module
ymd-stella commented 1 year ago

Follow the Issue template.

Insufficient information.

Basavaraj-PN commented 1 year ago

Fixed it with this:

When building with support for PangolinViewer

git clone -b 0.0.1 --recursive https://github.com/stella-cv/pangolin_viewer.git
mkdir -p pangolin_viewer/build
cd pangolin_viewer/build
cmake -DCMAKE_BUILD_TYPE=RelWithDebInfo ..
make -j
sudo make install