LSD SLAM Failures

[yudiprtm]

yudi@yudi-K46CM:~/rosbuild_ws$ rosmake lsd_slam [ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['lsd_slam']
[ rosmake ] Logging to directory /home/yudi/.ros/rosmake/rosmake_output-20151022-213408
[ rosmake ] Expanded args ['lsd_slam'] to: ['lsd_slam_viewer', 'lsd_slam_core']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin [ 1 Active 0/42 Complete ] No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-3] Starting >>> cpp_common [ make ]
[rosmake-2] Starting >>> cmake_modules [ make ]
[rosmake-3] Finished <<< cpp_common ROS_NOBUILD in package cpp_common No Makefile in package cpp_common [rosmake-1] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg No Makefile in package genmsg
[rosmake-3] Starting >>> rostime [ make ]
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-1] Finished <<< rosgraph ROS_NOBUILD in package rosgraph No Makefile in package rosgraph [rosmake-2] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules No Makefile in package cmake_modules [rosmake-1] Starting >>> genpy [ make ]
[rosmake-2] Starting >>> gencpp [ make ]
[rosmake-3] Finished <<< rostime ROS_NOBUILD in package rostime No Makefile in package rostime [rosmake-3] Starting >>> roscpp_traits [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp No Makefile in package genlisp [rosmake-0] Starting >>> rospack [ make ]
[rosmake-3] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits No Makefile in package roscpp_traits [rosmake-3] Starting >>> roscpp_serialization [ make ]
[rosmake-2] Finished <<< gencpp ROS_NOBUILD in package gencpp No Makefile in package gencpp
[rosmake-1] Finished <<< genpy ROS_NOBUILD in package genpy No Makefile in package genpy
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack No Makefile in package rospack [rosmake-2] Starting >>> rosparam [ make ]
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-3] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization No Makefile in package roscpp_serialization [rosmake-1] Starting >>> message_generation [ make ]
[rosmake-3] Starting >>> message_runtime [ make ]
[rosmake-2] Finished <<< rosparam ROS_NOBUILD in package rosparam No Makefile in package rosparam [rosmake-2] Starting >>> rosmaster [ make ]
[rosmake-1] Finished <<< message_generation ROS_NOBUILD in package message_generation No Makefile in package message_generation [rosmake-3] Finished <<< message_runtime ROS_NOBUILD in package message_runtime No Makefile in package message_runtime [rosmake-1] Starting >>> roslang [ make ]
[rosmake-3] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib No Makefile in package roslib
[rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-3] Finished <<< std_msgs ROS_NOBUILD in package std_msgs No Makefile in package std_msgs [rosmake-1] Finished <<< roslang ROS_NOBUILD in package roslang No Makefile in package roslang [rosmake-1] Starting >>> rosunit [ make ]
[rosmake-3] Starting >>> geometry_msgs [ make ]
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuild No Makefile in package rosbuild [rosmake-2] Finished <<< rosmaster ROS_NOBUILD in package rosmaster No Makefile in package rosmaster [rosmake-0] Starting >>> rosgraph_msgs [ make ]
[rosmake-2] Starting >>> xmlrpcpp [ make ]
[rosmake-1] Finished <<< rosunit ROS_NOBUILD in package rosunit No Makefile in package rosunit [rosmake-3] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs No Makefile in package geometry_msgs [rosmake-1] Starting >>> rosconsole [ make ]
[rosmake-3] Starting >>> sensor_msgs [ make ]
[rosmake-2] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp No Makefile in package xmlrpcpp [rosmake-0] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs No Makefile in package rosgraph_msgs [rosmake-2] Starting >>> rosclean [ make ]
[rosmake-0] Starting >>> roslz4 [ make ]
[rosmake-1] Finished <<< rosconsole ROS_NOBUILD in package rosconsole No Makefile in package rosconsole [rosmake-1] Starting >>> roscpp [ make ]
[rosmake-3] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs No Makefile in package sensor_msgs [rosmake-2] Finished <<< rosclean ROS_NOBUILD in package rosclean No Makefile in package rosclean [rosmake-0] Finished <<< roslz4 ROS_NOBUILD in package roslz4 No Makefile in package roslz4
[rosmake-0] Starting >>> rosbag_storage [ make ]
[rosmake-1] Finished <<< roscpp ROS_NOBUILD in package roscpp No Makefile in package roscpp
[rosmake-1] Starting >>> rosout [ make ]
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage No Makefile in package rosbag_storage [rosmake-1] Finished <<< rosout ROS_NOBUILD in package rosout No Makefile in package rosout
[rosmake-1] Starting >>> roslaunch [ make ]
[rosmake-3] Finished <<< rospy ROS_NOBUILD in package rospy No Makefile in package rospy
[rosmake-1] Finished <<< roslaunch ROS_NOBUILD in package roslaunch No Makefile in package roslaunch [rosmake-1] Starting >>> rostest [ make ]
[rosmake-1] Finished <<< rostest ROS_NOBUILD in package rostest No Makefile in package rostest [rosmake-1] Starting >>> cv_bridge [ make ]
[rosmake-0] Starting >>> topic_tools [ make ]
[rosmake-1] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge No Makefile in package cv_bridge [rosmake-0] Finished <<< topic_tools ROS_NOBUILD in package topic_tools No Makefile in package topic_tools [rosmake-0] Starting >>> rosbag [ make ]
[rosmake-0] Finished <<< rosbag ROS_NOBUILD in package rosbag No Makefile in package rosbag
[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 >>> dynamic_reconfigure [ make ]
[rosmake-0] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure No Makefile in package dynamic_reconfigure [rosmake-0] Starting >>> lsd_slam_viewer [ make ]
[ rosmake ] Last 40 linesd_slam_viewer: 3.4 sec ] [ 1 Active 40/42 Complete ] {------------------------------------------------------------------------------- main_stitchVideos.cpp:(.text+0x8f01): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0x8f30): undefined reference tocv::String::deallocate()' main_stitchVideos.cpp:(.text+0x8fc9): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0x8fdb): undefined reference tocv::String::deallocate()' CMakeFiles/videoStitch.dir/src/main_stitchVideos.cpp.o: In function inlayVid(int, char**)': main_stitchVideos.cpp:(.text+0x9c62): undefined reference tocv::imread(cv::String const&, int)' main_stitchVideos.cpp:(.text+0x9c6a): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0x9cb3): undefined reference tocv::imread(cv::String const&, int)' main_stitchVideos.cpp:(.text+0x9cbd): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0x9d02): undefined reference tocv::imread(cv::String const&, int)' main_stitchVideos.cpp:(.text+0x9d0c): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0x9d5a): undefined reference tocv::imread(cv::String const&, int)' main_stitchVideos.cpp:(.text+0x9d67): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0x9db1): undefined reference tocv::imread(cv::String const&, int)' main_stitchVideos.cpp:(.text+0x9dbe): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0xa629): undefined reference tocv::String::allocate(unsigned long)' main_stitchVideos.cpp:(.text+0xa654): undefined reference to cv::imwrite(cv::String const&, cv::_InputArray const&, std::vector<int, std::allocator<int> > const&)' main_stitchVideos.cpp:(.text+0xa661): undefined reference tocv::String::deallocate()' main_stitchVideos.cpp:(.text+0xa6c6): undefined reference to cv::String::allocate(unsigned long)' main_stitchVideos.cpp:(.text+0xa6e7): undefined reference tocv::imshow(cv::String const&, cv::_InputArray const&)' main_stitchVideos.cpp:(.text+0xa6f4): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0xaec5): undefined reference tocv::String::allocate(unsigned long)' main_stitchVideos.cpp:(.text+0xaee8): undefined reference to cv::String::allocate(unsigned long)' main_stitchVideos.cpp:(.text+0xaf08): undefined reference tocv::String::allocate(unsigned long)' main_stitchVideos.cpp:(.text+0xaf28): undefined reference to cv::String::allocate(unsigned long)' main_stitchVideos.cpp:(.text+0xaf46): undefined reference tocv::String::allocate(unsigned long)' main_stitchVideos.cpp:(.text+0xb146): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0xb1e2): undefined reference tocv::String::deallocate()' main_stitchVideos.cpp:(.text+0xb20e): undefined reference to cv::String::deallocate()' main_stitchVideos.cpp:(.text+0xb23f): undefined reference tocv::String::deallocate()' main_stitchVideos.cpp:(.text+0xb270): undefined reference to cv::String::deallocate()' CMakeFiles/videoStitch.dir/src/main_stitchVideos.cpp.o:main_stitchVideos.cpp:(.text+0xb33e): more undefined references tocv::String::deallocate()' follow collect2: error: ld returned 1 exit status make[3]: * [../bin/videoStitch] Error 1 make[3]: Leaving directory `/home/yudi/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build' make[2]: * [CMakeFiles/videoStitch.dir/all] Error 2 make[2]: Leaving directory/home/yudi/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build' make[1]: **\* [all] Error 2 make[1]: Leaving directory/home/yudi/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build' -------------------------------------------------------------------------------} [ rosmake ] Output from build of package lsd_slam_viewer written to: [ rosmake ] /home/yudi/.ros/rosmake/rosmake_output-20151022-213408/lsd_slam_viewer/build_output.log [rosmake-0] Finished <<< lsd_slam_viewer [FAIL] [ 3.49 seconds ]
[ rosmake ] Halting due to failure in package lsd_slam_viewer. [ rosmake ] Waiting for other threads to complete. [ rosmake ] Results:
[ rosmake ] Built 41 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/yudi/.ros/rosmake/rosmake_output-20151022-213408

[mihaibujanca]

The build can't find your openCV.

Just add find_package(OpenCV REQUIRED) and ${OPENCV_LIB} to target_link_libraries and it rebuild

[vadimostanin]

I had same issue, I fixed it, I had two includes and libs for opencv2 with differ version ( 2 and 3 ) at /usr/{include ; lib} and /usr/local/{include lib} respectively When I renamed /usr/local/include/opencv2 to /usr/local/include/opencv2qwe or just delete it, then cd ./lsd_slm/lsd_slam_viewer/build make clean && make successfully compiled

[cipri-tom]

@mihaibujanca that doesn't work if you have both openCV2 and openCV3. Do you know how we could specify which OpenCV to look for? I tried find_package(OpenCV 3 REQUIRED) and find_package(OpenCV 3.0.0 REQUIRED) with no success :disappointed:

It seems by default it is selecting OpenCV2, as indicated by @vadimostanin's comment. His solution also worked for me, but I wish it could be done more cleanly :smile:

[mihaibujanca]

@cipri-tom I'm pretty sure you will run into a number of problems if you will use OpenCV v3, as a number of functions from OpenCV 2 are deprecated or changed - so this might cause a load of problems you might not be aware of. My advice is to try and use OpenCV 2.4.8.

If you still want to use OpenCV3: Download OpenCV3 and build it, but don't install it. If you install both opencv 2 and opencv 3, you will almost surely run into conflicts, with part of the files belonging to each version and some of them overwritten, depending on the order of the instalation. Generally if you installed both, the best idea would be to just purge everything that has to do with opencv, download whatever version you need, install one and never install a new opencv over an old one - first uninstall the old one. If you need both of them for different projects, you can include whichever you need manually:

In CMakeFiles.txt, instead of using find_package, manually add the include and lib path for opencv (e.g

set(OpenCV_INCLUDE_DIRS "path/to/opencv3/include")
set(OpenCV_LIBS "/path/to/opencv3/lib")
set(OpenCV_DIR "/path/to/opencv3/build")

) Not sure if the above is exactly what you have to write, needs a bit of digging but should be something along those lines. If you use this, you should remove find_package(OpenCV).

Hope this helps

[magicsn0w]

@vadimostanin OK !!! Thanks,You are right.It's useful for me. The problem is solved.

[TungTNguyen]

@mihaibujanca : I got into the error in order to generate the viewer binary in the lsd slam viewer: {------------------------------------------------------------------------------- ^ In file included from /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/main_viewer.cpp:25:0: /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h: In member function ‘std::__cxx11::string AnimationObject::toString()’: /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:136:26: error: invalid initialization of non-const reference of type ‘qreal& {aka double&}’ from an rvalue of type ‘qreal {aka double}’ frame.getPosition(x,y,z); ^ In file included from /usr/include/QGLViewer/keyFrameInterpolator.h:31:0, from /usr/include/QGLViewer/camera.h:26, from /usr/include/QGLViewer/qglviewer.h:26, from /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:26, from /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/main_viewer.cpp:25: /usr/include/QGLViewer/frame.h:188:7: note: initializing argument 1 of ‘void qglviewer::Frame::getPosition(qreal&, qreal&, qreal&) const’ void getPosition(qreal& x, qreal& y, qreal& z) const; ^ /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slamviewer/src/PointCloudViewer.cpp: In member function ‘virtual void PointCloudViewer::keyPressEvent(QKeyEvent)’: /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.cpp:327:44: error: invalid initialization of non-const reference of type ‘qreal& {aka double&}’ from an rvalue of type ‘qreal {aka double}’ camera()->frame()->getPosition(x,y,z); ^ In file included from /usr/include/QGLViewer/keyFrameInterpolator.h:31:0, from /usr/include/QGLViewer/camera.h:26, from /usr/include/QGLViewer/qglviewer.h:26, from /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCloudViewer.h:26, from /home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slamviewer/src/PointCloudViewer.cpp:22: /usr/include/QGLViewer/frame.h:188:7: note: initializing argument 1 of ‘void qglviewer::Frame::getPosition(qreal&, qreal&, qreal&) const’ void getPosition(qreal& x, qreal& y, qreal& z) const; ^ CMakeFiles/viewer.dir/build.make:156: recipe for target 'CMakeFiles/viewer.dir/src/PointCloudViewer.cpp.o' failed make[3]: ** [CMakeFiles/viewer.dir/src/PointCloudViewer.cpp.o] Error 1 make[3]: * Waiting for unfinished jobs.... CMakeFiles/viewer.dir/build.make:97: recipe for target 'CMakeFiles/viewer.dir/src/main_viewer.cpp.o' failed make[3]: * [CMakeFiles/viewer.dir/src/main_viewer.cpp.o] Error 1 make[3]: Leaving directory '/home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build' CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/viewer.dir/all' failed make[2]: * [CMakeFiles/viewer.dir/all] Error 2 make[2]: Leaving directory '/home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build' Makefile:127: recipe for target 'all' failed make[1]: * [all] Error 2 make[1]: Leaving directory '/home/tunggo/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/build' /opt/ros/kinetic/share/mk/cmake.mk:7: recipe for target 'all' failed -------------------------------------------------------------------------------} Any idea, please?

[cipri-tom]

@TungTNguyen these look like errors coming from unmatching C++ versions. Make sure you're using the correct C++ standard. I don't remember which one was for this project

[TungTNguyen]

@cipri-tom : thank you for your diagnosis and suggestion. My gcc version is 5.4.0 on Ubuntu 16.04.2, while my lib-qgl-viewer is at its newest version 2.6.3 (more or less) one stack-over-flow user and git-hub user recommended to change the floats to qreals, but it didn't solved the error. What do you think? Any help would be paid forward.

[cipri-tom]

@TungTNguyen I thing that the only chance to get this to run is to reproduce their environment. So use Ubuntu 14.04 and ros-indigo. And on x86 (32 bits). This is important!! Then you may have some luck. But it's really difficult to get everything correctly!

[mattdinhnguyen]

@TungTNguyen I ran into the same error: invalid initialization of non-const reference of type ‘qreal& {aka double&}’ from an rvalue of type ‘qreal {aka double}’ frame.getPosition(x,y,z); How did you fix this? Thanks.

[blindnote]

@mattdinhnguyen guess you're also installing on x86_64, I changed as below then it built through:

~/Workspace/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCLoudViewer.cpp: 326: float x, y, z; // change to —> qreal x, y, z;

~/Workspace/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCLoudViewer.h: 135: float x, y, z; // change to —> qreal x, y, z;

[alejandronespereira]

This worked fine in a ubuntu 16.04 with Ros Kinect, thanks man!

[Jyang772]

Following @blindnote 's suggestion and #237 it compiles for Ubuntu 16.04 with ROS Kinetic.

[babyformula]

@cipri-tom Hi, I just tried in Ubuntu 14.04 + indigo and solved this problem perfectly, which may result from the conflicts among OpenCV of different version. Here's the method: download and compile the OpenCV 2.4.8 version, and sudo make install (after that u can also merge the latest version OpenCV by doing this again). And add find_package(OpenCV 2.4.8 REQUIRED) in both lsd_slam_core/CMakeLists.txt & lsd_slam_viewer/CMakeLists.txt

[jsYangCode]

@blindnote @mihaibujanca Friends, may u give me some advice? rosmake lsd-slam with(16.04+ROS kinetic) i have do these: ~/Workspace/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCLoudViewer.cpp: 326: float x, y, z; // change to —> qreal(or double) x, y, z;

~/Workspace/rosbuild_ws/package_dir/lsd_slam/lsd_slam_viewer/src/PointCLoudViewer.h: 135: float x, y, z; // change to —> qreal(or double)x, y, z; another problem occurs! please!!!! so desperate!!!

[blindnote]

@Young532042725 check your opencv versions and references , looks like something is wrong there

[ruoyuwangeel4930]

@Young532042725 I suppose you know Chinese, you can find a solution here. https://blog.csdn.net/softimite_zifeng/article/details/78632653