Open ple13 opened 7 years ago
songuke
commented
7 years ago Hi,
A few months ago I attempted to compile DVO_SLAM on Linux Mint (Linux distro based on Ubuntu). The forked repository and step-by-step instructions for compilation are here: https://github.com/songuke/dvo_slam
You might want to give it try. It uses catkin to build, which seems to avoid many issues caused by rosmake.
Cheers.
ple13
commented
7 years ago Hi,
Thanks for your help.
It doesn't work for me yet. I keep having trouble with type conversion between Sophus matrix and eigen::affine3f.
Which Eigen version did you use to compile the package? I notice that when I change the Eigen version, sometimes Sophus cannot be compiled.
Le
On Tue, Oct 4, 2016 at 10:48 PM, songuke notifications@github.com wrote:
Hi,
A few months ago I attempted to compile DVO on Linux Mint (Linux distro based on Ubuntu). The step-by-step instructions for compilations are here: https://github.com/songuke/dvo_slam
You might want to give it try. It uses catkin to build, which seems to avoid many issues caused by rosmake.
Cheers.
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-251568932, or mute the thread https://github.com/notifications/unsubscribe-auth/AOXj5OX1Pu8Dd7dihj4n4Gj1K_IZQX3zks5qwxAPgaJpZM4KODT5 .
songuke
commented
7 years ago Hi Le,
In the README.md on my repository, I did note:
"If your system has Eigen >= 3.3, don't use it with g2o. The old version of g2o is only compatible to Eigen 3.2.8..."
You might want to try that.
2016-10-10 7:27 GMT+07:00 ple13 notifications@github.com:
Hi,
Thanks for your help.
It doesn't work for me yet. I keep having trouble with type conversion between Sophus matrix and eigen::affine3f.
Which Eigen version did you use to compile the package? I notice that when I change the Eigen version, sometimes Sophus cannot be compiled.
Le
On Tue, Oct 4, 2016 at 10:48 PM, songuke notifications@github.com wrote:
Hi,
A few months ago I attempted to compile DVO on Linux Mint (Linux distro based on Ubuntu). The step-by-step instructions for compilations are here: https://github.com/songuke/dvo_slam
You might want to give it try. It uses catkin to build, which seems to avoid many issues caused by rosmake.
Cheers.
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-251568932 , or mute the thread https://github.com/notifications/unsubscribe-auth/ AOXj5OX1Pu8Dd7dihj4n4Gj1K_IZQX3zks5qwxAPgaJpZM4KODT5 .
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mrkstt
commented
7 years ago @ple13 : Have you solved the issue?, I got the identical problem. @songuke : I already tried your dvo_slam from: https://github.com/songuke/dvo_slam. I've checked my eigen version and it is 3.2.0. Do you have any idea why the Eigen conversion seems not working?
My OS is Ubuntu 14.04 with ROS Indigo.
mrkstt
commented
7 years ago I tried to check the installed eigen:
ubuntu@ubuntu:~/dvo_slam$ dpkg --get-selections | grep eigen libeigen3-dev install ros-indigo-eigen-conversions install ros-indigo-eigen-stl-containers install
ros indigo has its own conversion package, will the multiple packages be the possible issue?
ple13
commented
7 years ago Hi,
Thank you Songuke!!
I finally compiled the code successfully.
I guess that the Eigen type conversion errors that kept popping out was due to the compiler I used (g++-4.7/4.8.4.9/5). It compiled the Sophus package without any problems, however, when Sophus was used in dvo_slam, the compiler complainted. I checked the error messages, then modified the file so3.hpp in Sophus, and it worked.
In short, I changed these lines in /usr/local/include/Sophus/so3.hpp, starting from line 89:
/* \brief scalar type /
using Scalar = typename Eigen::internal::traits
into
/* \brief scalar type /
typedef typename Eigen::internal::traits
After this small change, I could compiled the package with g++.
@mrksst: when I installed Eigen, I used cmake .. -DCMAKE_INSTALL_PREFIX=/usr . This was to avoid the situation of having multiple eigens in the system. Before doing that, I deleted all eigen3 in /usr/include and /usr/local/include, then restalled it using the above option. I hope that it works for you too.
Le, Phi Hung
On Tue, Oct 11, 2016 at 11:33 AM, mrkstt notifications@github.com wrote:
I tried to check the installed eigen:
ubuntu@ubuntu:~/dvo_slam$ dpkg --get-selections | grep eigen libeigen3-dev install ros-indigo-eigen-conversions install ros-indigo-eigen-stl-containers install
ros indigo has its own conversion package, will the multiple packages be the possible issue?
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mrkstt
commented
7 years ago Hi Le @ple13, Sounds great you have solved the issue. I followed the code modification above and the error disappeared. I also re-installed the eigen as you suggested (my Eigen version is 3.2.8). However, I got this following error now:
ubuntu@ubuntu:~/dvo_slam$ catkin_make -DCMAKE_BUILD_TYPE=ReleaseBase path: /home/ubuntu/dvo_slam Source space: /home/ubuntu/dvo_slam/src Build space: /home/ubuntu/dvo_slam/build Devel space: /home/ubuntu/dvo_slam/devel Install space: /home/ubuntu/dvo_slam/install
[ 7%] [ 7%] Built target dvo_slam_gencfg
Built target dvo_ros_gencfg
[ 10%] Building CXX object dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o
In file included from /usr/local/include/sophus/sophus.hpp:31:0,
from /usr/local/include/sophus/so3.hpp:27,
from /usr/local/include/sophus/se3.hpp:27,
from /home/ubuntu/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27:
/usr/local/include/sophus/ensure.hpp:60:1: error: ‘EIGEN_DEVICE_FUNC’ does not name a type
EIGEN_DEVICE_FUNC inline void defaultEnsure(const char* function,
^
/usr/local/include/sophus/so3.hpp: In member function ‘void Sophus::SO3GroupBase
Seems "EIGEN_DEVICE_FUNC" and "defaultEnsure" are not recognized. Any idea?, really thanks for suggestion.
mrkstt
commented
7 years ago Hi @ple13 @songuke,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinet_validation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFine: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeightThreshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692 ...
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
songuke
commented
7 years ago Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt notifications@github.com:
Hi @ple13 https://github.com/ple13 @songuke https://github.com/songuke ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
_roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinetvalidation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFine: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeightThreshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-253434903, or mute the thread https://github.com/notifications/unsubscribe-auth/AAIXsgpqjdzA8UDaf_hP89eCUdAOMW5uks5qzdv3gaJpZM4KODT5 .
ple13
commented
7 years ago Hi,
When I tried to run the program, it kept asking for the file assoc.txt however this file is not provided with the dataset. Am I suppose to sync the depth and rgb to produce this file myself?
Le, Phi Hung
On Thu, Oct 13, 2016 at 4:32 AM, songuke notifications@github.com wrote:
Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt notifications@github.com:
Hi @ple13 https://github.com/ple13 @songuke < https://github.com/songuke> ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
_roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinetvalidation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] }
ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level
1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFi ne: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeight Threshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-253434903 , or mute the thread https://github.com/notifications/unsubscribe-auth/AAIXsgpqjdzA8UDaf_ hP89eCUdAOMW5uks5qzdv3gaJpZM4KODT5 .
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songuke
commented
7 years ago assoc.txt can be generated with this Python script: http://vision.in.tum.de/data/datasets/rgbd-dataset/tools
Another hint to check if the program is working is to monitor trajectory.txt. This file should be changing if DVO is doing the calculation.
2016-10-14 1:20 GMT+07:00 ple13 notifications@github.com:
Hi,
When I tried to run the program, it kept asking for the file assoc.txt however this file is not provided with the dataset. Am I suppose to sync the depth and rgb to produce this file myself?
Le, Phi Hung
On Thu, Oct 13, 2016 at 4:32 AM, songuke notifications@github.com wrote:
Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt notifications@github.com:
Hi @ple13 https://github.com/ple13 @songuke < https://github.com/songuke> ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
_roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinetvalidation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last
Level
1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFi ne: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeight Threshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <https://github.com/tum-vision/dvo_slam/issues/50# issuecomment-253434903 , or mute the thread https://github.com/notifications/unsubscribe-auth/AAIXsgpqjdzA8UDaf_ hP89eCUdAOMW5uks5qzdv3gaJpZM4KODT5 .
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ple13
commented
7 years ago Thanks.
It works for me.
Le, Phi Hung
On Thu, Oct 13, 2016 at 3:17 PM, songuke notifications@github.com wrote:
assoc.txt can be generated with this Python script: http://vision.in.tum.de/data/datasets/rgbd-dataset/tools
Another hint to check if the program is working is to monitor trajectory.txt. This file should be changing if DVO is doing the calculation.
2016-10-14 1:20 GMT+07:00 ple13 notifications@github.com:
Hi,
When I tried to run the program, it kept asking for the file assoc.txt however this file is not provided with the dataset. Am I suppose to sync the depth and rgb to produce this file myself?
Le, Phi Hung
On Thu, Oct 13, 2016 at 4:32 AM, songuke notifications@github.com wrote:
Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt notifications@github.com:
Hi @ple13 https://github.com/ple13 @songuke < https://github.com/songuke> ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
_roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinetvalidation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last
Level
1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFi ne: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeight Threshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <https://github.com/tum-vision/dvo_slam/issues/50# issuecomment-253434903 , or mute the thread https://github.com/notifications/unsubscribe- auth/AAIXsgpqjdzA8UDaf_ hP89eCUdAOMW5uks5qzdv3gaJpZM4KODT5 .
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.
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I'm trying to compile dvo_slam on my machine: Ubuntu 12.04.5 / ros fuerte. The compilation terminates when dvo_core is compiled.
In summary, I notice that there is an error relating to conversion between different data types.
In dense_tracking.cpp, line 263 causes the compilation error: Eigen::Affine3f transformf; transformf = estimate().matrix().cast();
I'm thinking about passing data from estimate().matrix() to transformf manually. However I guess there should be a better way to handle the issue.
Below is the error message:
{------------------------------------------------------------------------------- /home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp: In instantiation of ‘Eigen::Matrix<typename Eigen::internal::traits::Scalar, 3, 3> Sophus::SE3GroupBase::rotationMatrix() const [with Derived = Sophus::SE3Group; typename Eigen::internal::traits::Scalar = double]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:227:59: required from ‘Sophus::SE3GroupBase::Transformation Sophus::SE3GroupBase::matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::Transformation = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:263:40: required from here
/home/panda/Desktop/slam_baselines/dvoslam/sophus/include/sophus/se3.hpp:311:25: error: could not convert ‘((const Sophus::SO3GroupBaseSophus::SO3Group::so3Sophus::SE3Group()))->Sophus::SO3GroupBase::matrixSophus::SO3Group()’ from ‘Sophus::SO3GroupBaseSophus::SO3Group::Transformation {aka int}’ to ‘Eigen::Matrix<double, 3, 3>’
return so3().matrix();
^
In file included from /home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:27:0,
from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:27:
/home/panda/Desktop/slam_baselines/dvoslam/sophus/include/sophus/so3.hpp: In instantiation of ‘static Sophus::SO3GroupBase::Tangent Sophus::SO3GroupBase::logAndTheta(const int&, int ) [with Derived = Sophus::SO3Group; Sophus::SO3GroupBase::Tangent = int]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:611:56: required from ‘static Sophus::SE3GroupBase::Tangent Sophus::SE3GroupBase::log(const Sophus::SE3Group<typename Eigen::internal::traits::Scalar>&) [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::Tangent = Eigen::Matrix<double, 6, 1>; typename Eigen::internal::traits::Scalar = double]’
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:211:21: required from ‘Sophus::SE3GroupBase::Tangent Sophus::SE3GroupBase::log() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::Tangent = Eigen::Matrix<double, 6, 1>; typename Eigen::internal::traits::Scalar = double]’
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:238:17: required from here
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/so3.hpp:569:3: warning: no return statement in function returning non-void [-Wreturn-type]
}
^
In file included from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:27:0:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp: In member function ‘Sophus::SE3Group<typename Eigen::internal::traits::Scalar> Sophus::SE3GroupBase::inverse() const [with Derived = Sophus::SE3Group; typename Eigen::internal::traits::Scalar = double]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:200:3: warning: control reaches end of non-void function [-Wreturn-type]
}
^
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp: In member function ‘Eigen::Matrix<typename Eigen::internal::traits::Scalar, 3, 3> Sophus::SE3GroupBase::rotationMatrix() const [with Derived = Sophus::SE3Group; typename Eigen::internal::traits::Scalar = double]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:312:3: warning: control reaches end of non-void function [-Wreturn-type]
}
^
In file included from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/dense_tracking.h:28:0,
from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:23:
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: * [CMakeFiles/dvo_core.dir/src/dense_tracking.o] Error 1
make[3]: Leaving directory `/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build'
make[2]: * [CMakeFiles/dvo_core.dir/all] Error 2
make[2]: Leaving directory
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package dvo_core written to: [ rosmake ] /home/panda/.ros/rosmake/rosmake_output-20161004-150237/dvo_core/build_output.log[rosmake-0] Finished <<< dvo_core [FAIL] [ 8.61 seconds ]
[ rosmake ] Halting due to failure in package dvo_core. [ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 40 packages with 1 failures.
[ rosmake ] Summary output to directory