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tum-vision / dvo_slam

Dense Visual Odometry and SLAM
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How to run the package in kinetic??? #70

Open wangzhe666 opened 5 years ago

wangzhe666 commented 5 years ago

e-H61M-DS2:~/catkin_ws$ rosmake dvo_core dvo_ros dvo_slam dvo_benchmark [ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark'] [ rosmake ] Logging to directory /home/wangzhe/.ros/rosmake/rosmake_output-20190728-132719 [ rosmake ] Expanded args ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark'] to: ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark'] [rosmake-0] Starting >>> catkin [ make ]
[rosmake-1] Starting >>> sophus [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin No Makefile in package catkin [rosmake-0] Starting >>> genmsg [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg No Makefile in package genmsg [rosmake-0] Starting >>> genlisp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp No Makefile in package genlisp [rosmake-0] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy No Makefile in package genpy [rosmake-0] Starting >>> gencpp [ make ]
[rosmake-0] Finished <<< gencpp ROS_NOBUILD in package gencpp No Makefile in package gencpp [rosmake-0] Starting >>> geneus [ make ]
[rosmake-0] Finished <<< geneus ROS_NOBUILD in package geneus No Makefile in package geneus [rosmake-0] Starting >>> gennodejs [ make ]
[rosmake-0] Finished <<< gennodejs ROS_NOBUILD in package gennodejs No Makefile in package gennodejs [rosmake-0] Starting >>> message_generation [ make ]
[rosmake-0] Finished <<< message_generation ROS_NOBUILD in package message_generation No Makefile in package message_generation [rosmake-0] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< cpp_common ROS_NOBUILD in package cpp_common Complete ] No Makefile in package cpp_common [rosmake-0] Starting >>> rostime [ make ]
[rosmake-0] Finished <<< rostime ROS_NOBUILD in package rostime No Makefile in package rostime [rosmake-0] Starting >>> roscpp_traits [ make ]
[rosmake-0] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits No Makefile in package roscpp_traits [rosmake-0] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization No Makefile in package roscpp_serialization [rosmake-0] Starting >>> message_runtime [ make ]
[rosmake-0] Finished <<< message_runtime ROS_NOBUILD in package message_runtime No Makefile in package message_runtime [rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< std_msgs ROS_NOBUILD in package std_msgs No Makefile in package std_msgs [rosmake-0] Starting >>> rosgraph_msgs [ make ]
[rosmake-0] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs No Makefile in package rosgraph_msgs [rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuild No Makefile in package rosbuild [rosmake-0] Starting >>> ros_environment [ make ]
[rosmake-0] Finished <<< ros_environment ROS_NOBUILD in package ros_environment No Makefile in package ros_environment [rosmake-0] Starting >>> cmake_modules [ make ]
[rosmake-0] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules No Makefile in package cmake_modules [rosmake-0] Starting >>> rospack [ make ]
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack No Makefile in package rospack [rosmake-0] Starting >>> rosmake [ make ]
[rosmake-0] Finished <<< rosmake ROS_NOBUILD in package rosmake No Makefile in package rosmake [rosmake-0] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib No Makefile in package roslib [rosmake-0] Starting >>> rosunit [ make ]
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit No Makefile in package rosunit [rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole No Makefile in package rosconsole [rosmake-0] Starting >>> roslang [ make ]
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang No Makefile in package roslang [rosmake-0] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp No Makefile in package xmlrpcpp [rosmake-0] Starting >>> roscpp [ make ]
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp No Makefile in package roscpp [rosmake-0] Starting >>> geometry_msgs [ make ]
[rosmake-0] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs No Makefile in package geometry_msgs [rosmake-0] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< rosgraph ROS_NOBUILD in package rosgraph No Makefile in package rosgraph [rosmake-0] Starting >>> rosparam [ make ]
[rosmake-0] Finished <<< rosparam ROS_NOBUILD in package rosparam No Makefile in package rosparam [rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster No Makefile in package rosmaster [rosmake-0] Starting >>> rosout [ make ]
[rosmake-0] Finished <<< rosout ROS_NOBUILD in package rosout No Makefile in package rosout [rosmake-0] Starting >>> rosclean [ make ]
[rosmake-0] Finished <<< rosclean ROS_NOBUILD in package rosclean No Makefile in package rosclean [rosmake-0] Starting >>> roslaunch [ make ]
[rosmake-0] Finished <<< roslaunch ROS_NOBUILD in package roslaunch No Makefile in package roslaunch [rosmake-0] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< rospy ROS_NOBUILD in package rospy No Makefile in package rospy [rosmake-0] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< rostest ROS_NOBUILD in package rostest No Makefile in package rostest [rosmake-0] Starting >>> topic_tools [ make ]
[rosmake-0] Finished <<< topic_tools ROS_NOBUILD in package topic_tools No Makefile in package topic_tools [rosmake-0] Starting >>> std_srvs [ make ]
[rosmake-0] Finished <<< std_srvs ROS_NOBUILD in package std_srvs No Makefile in package std_srvs [rosmake-0] Starting >>> roslz4 [ make ]
[rosmake-0] Finished <<< roslz4 ROS_NOBUILD in package roslz4 No Makefile in package roslz4 [rosmake-0] Starting >>> rosbag_storage [ make ]
[rosmake-0] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage No Makefile in package rosbag_storage [rosmake-0] Starting >>> rosbag [ make ]
[rosmake-0] Finished <<< rosbag ROS_NOBUILD in package rosbag No Makefile in package rosbag [rosmake-0] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs No Makefile in package sensor_msgs [rosmake-0] Starting >>> pcl_msgs [ make ]
[rosmake-0] Finished <<< pcl_msgs ROS_NOBUILD in package pcl_msgs No Makefile in package pcl_msgs [rosmake-0] Starting >>> pcl_conversions [ make ]
[rosmake-0] Finished <<< pcl_conversions ROS_NOBUILD in package pcl_conversions No Makefile in package pcl_conversions [rosmake-0] Starting >>> smclib [ make ]
[rosmake-0] Finished <<< smclib ROS_NOBUILD in package smclib No Makefile in package smclib [rosmake-0] Starting >>> bond [ make ]
[rosmake-0] Finished <<< bond ROS_NOBUILD in package bond No Makefile in package bond [rosmake-0] Starting >>> bondcpp [ make ]
[rosmake-0] Finished <<< bondcpp ROS_NOBUILD in package bondcpp 45/83 Complete ] No Makefile in package bondcpp [rosmake-0] Starting >>> class_loader [ make ]
[rosmake-0] Finished <<< class_loader ROS_NOBUILD in package class_loader No Makefile in package class_loader [rosmake-0] Starting >>> pluginlib [ make ]
[rosmake-0] Finished <<< pluginlib ROS_NOBUILD in package pluginlib No Makefile in package pluginlib [rosmake-0] Starting >>> nodelet [ make ]
[rosmake-0] Finished <<< nodelet ROS_NOBUILD in package nodelet No Makefile in package nodelet [rosmake-0] Starting >>> message_filters [ make ]
[rosmake-0] Finished <<< message_filters ROS_NOBUILD in package message_filters No Makefile in package message_filters [rosmake-0] Starting >>> actionlib_msgs [ make ]
[rosmake-0] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs No Makefile in package actionlib_msgs [rosmake-0] Starting >>> rostopic [ make ]
[rosmake-0] Finished <<< rostopic ROS_NOBUILD in package rostopic No Makefile in package rostopic [rosmake-0] Starting >>> rosnode [ make ]
[rosmake-0] Finished <<< rosnode ROS_NOBUILD in package rosnode No Makefile in package rosnode [rosmake-0] Starting >>> actionlib [ make ]
[rosmake-0] Finished <<< actionlib ROS_NOBUILD in package actionlib No Makefile in package actionlib [rosmake-0] Starting >>> tf2_msgs [ make ]
[rosmake-0] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs No Makefile in package tf2_msgs [rosmake-0] Starting >>> tf2 [ make ]
[rosmake-0] Finished <<< tf2 ROS_NOBUILD in package tf2 No Makefile in package tf2 [rosmake-0] Starting >>> tf2_py [ make ]
[rosmake-0] Finished <<< tf2_py ROS_NOBUILD in package tf2_py No Makefile in package tf2_py [rosmake-0] Starting >>> tf2_ros [ make ]
[rosmake-0] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros No Makefile in package tf2_ros [rosmake-0] Starting >>> angles [ make ]
[rosmake-0] Finished <<< angles ROS_NOBUILD in package angles No Makefile in package angles [rosmake-0] Starting >>> rosmsg [ make ]
[rosmake-0] Finished <<< rosmsg ROS_NOBUILD in package rosmsg No Makefile in package rosmsg [rosmake-0] Starting >>> rosservice [ make ]
[rosmake-0] Finished <<< rosservice ROS_NOBUILD in package rosservice No Makefile in package rosservice [rosmake-0] Starting >>> roswtf [ make ]
[rosmake-0] Finished <<< roswtf ROS_NOBUILD in package roswtf No Makefile in package roswtf [rosmake-0] Starting >>> tf [ make ]
[rosmake-0] Finished <<< tf ROS_NOBUILD in package tf No Makefile in package tf [rosmake-0] Starting >>> orocos_kdl [ make ]
[rosmake-0] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdl No Makefile in package orocos_kdl [rosmake-0] Starting >>> kdl_conversions [ make ]
[rosmake-0] Finished <<< kdl_conversions ROS_NOBUILD in package kdl_conversions No Makefile in package kdl_conversions [rosmake-0] Starting >>> python_orocos_kdl [ make ]
[rosmake-0] Finished <<< python_orocos_kdl ROS_NOBUILD in package python_orocos_kdl No Makefile in package python_orocos_kdl [rosmake-0] Starting >>> tf_conversions [ make ]
[rosmake-0] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions No Makefile in package tf_conversions [rosmake-0] Starting >>> eigen_conversions [ make ]
[rosmake-0] Finished <<< eigen_conversions ROS_NOBUILD in package eigen_conversions No Makefile in package eigen_conversions [rosmake-0] Starting >>> dynamic_reconfigure [ make ]
[rosmake-0] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure No Makefile in package dynamic_reconfigure [rosmake-0] Starting >>> tf2_eigen [ make ]
[rosmake-0] Finished <<< tf2_eigen ROS_NOBUILD in package tf2_eigen No Makefile in package tf2_eigen [rosmake-0] Starting >>> nodelet_topic_tools [ make ]
[rosmake-0] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools No Makefile in package nodelet_topic_tools [rosmake-0] Starting >>> pcl_ros [ make ]
[rosmake-0] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros No Makefile in package pcl_ros [rosmake-0] Starting >>> image_transport [ make ]
[rosmake-0] Finished <<< image_transport ROS_NOBUILD in package image_transport No Makefile in package image_transport [rosmake-0] Starting >>> opencv3 [ make ]
[rosmake-0] Finished <<< opencv3 ROS_NOBUILD in package opencv3 73/83 Complete ] No Makefile in package opencv3 [rosmake-0] Starting >>> cv_bridge [ make ]
[rosmake-0] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge No Makefile in package cv_bridge [rosmake-0] Starting >>> visualization_msgs [ make ]
[rosmake-0] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs No Makefile in package visualization_msgs [rosmake-0] Starting >>> interactive_markers [ make ]
[rosmake-0] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers No Makefile in package interactive_markers [rosmake-0] Starting >>> g2o [ make ]
[rosmake-1] Finished <<< sophus [PASS] [ 0.68 seconds ]
[rosmake-1] Starting >>> dvo_core [ make ]
[rosmake-0] Finished <<< g2o [PASS] [ 3.81 seconds ]
[ rosmake ] Last 40 lineso_core: 10.3 sec ] [ 1 Active 79/83 Complete ] {------------------------------------------------------------------------------- initial.revert(); ^ /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:279:20: error: request for member ‘revert’ in ‘estimate’, which is of non-class type ‘int’ estimate.revert(); ^ /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:302:63: error: ‘initial’ cannot be used as a function iteration_stats.PriorLogLikelihood = cfg.Mu initial().log().squaredNorm(); ^ /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:316:17: error: request for member ‘revert’ in ‘initial’, which is of non-class type ‘int’ initial.revert(); ^ /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:317:18: error: request for member ‘revert’ in ‘estimate’, which is of non-class type ‘int’ estimate.revert(); ^ /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:346:50: error: ‘initial’ cannot be used as a function b = ls.b.cast() + cfg.Mu initial().log(); ^ /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:371:36: error: ‘estimate’ cannot be used as a function result.Transformation = estimate().inverse().matrix(); ^ In file included from /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/include/dvo/dense_tracking.h:28:0, from /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/src/dense_tracking.cpp:23: /home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope: /home/wangzhe/catkin_ws/src/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/wangzhe/catkin_ws/src/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(); ^ CMakeFiles/dvo_core.dir/build.make:626: recipe for target 'CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o' failed make[3]: [CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o] Error 1 make[3]: Leaving directory '/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/build' CMakeFiles/Makefile2:747: recipe for target 'CMakeFiles/dvo_core.dir/all' failed make[2]: [CMakeFiles/dvo_core.dir/all] Error 2 make[2]: Leaving directory '/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/build' Makefile:127: recipe for target 'all' failed make[1]: *** [all] Error 2 make[1]: Leaving directory '/home/wangzhe/catkin_ws/src/dvo_slam/dvo_core/build' /opt/ros/kinetic/share/mk/cmake.mk:7: recipe for target 'all' failed -------------------------------------------------------------------------------} [ rosmake ] Output from build of package dvo_core written to: [ rosmake ] /home/wangzhe/.ros/rosmake/rosmake_output-20190728-132719/dvo_core/build_output.log [rosmake-1] Finished <<< dvo_core [FAIL] [ 10.29 seconds ]
[ rosmake ] Halting due to failure in package dvo_core. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 80 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/wangzhe/.ros/rosmake/rosmake_output-20190728-132719

zhaozhongch commented 4 years ago

You can check this modified version of dvo. This version works well on my computer https://github.com/songuke/dvo_slam

When compiling, you may meet error like

/home/riger/dvo_ws/src/dvo_slam/dvo_ros/src/camera_tracker_nodelet.cpp:24:24: error: expected constructor, destructor, or type conversion before ‘(’ token
 PLUGINLIB_DECLARE_CLASS(dvo_ros, camera_tracker, dvo_ros::CameraTrackerNodelet, nodelet::Nodelet)

You need replace

PLUGINLIB_DECLARE_CLASS(dvo_ros, camera_tracker, dvo_ros::CameraTrackerNodelet, nodelet::Nodelet)

with 

PLUGINLIB_EXPORT_CLASS(dvo_ros::CameraTrackerNodelet, nodelet::Nodelet)

Also, you may meet problems like no assoc.txt, you can use TUM's tool to generate that file. Follow ORB_SLAM2, RGB-D Examplepart, generate an assoc.txt and put it into your dateset root folder