Working fork of LSD SLAM?

kevin-george commented 7 years ago

Does anyone know of a working fork of this repo compatible with ROS & OpenCV? The authors have obviously stopped working on/maintaining this.

I would be willing to help out as much as I can if someone decides to do it :)

sathishkumark27 commented 7 years ago

Hi,

I have tried to work with it but could not able to make the setup, I could use same help to work on it.

Thanks & Regards Sathish

On Aug 31, 2017 9:45 PM, "Kevin George" notifications@github.com wrote:

Does anyone know of a working fork of this repo compatible with ROS & OpenCV? The authors have obviously stopped working on/maintaining this.

I would be willing to help out as much as I can if someone decides to do it :)

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/tum-vision/lsd_slam/issues/274, or mute the thread https://github.com/notifications/unsubscribe-auth/Ad1Zbyqpbu3EKqpY4mXZfqqcqxoOmgRgks5sd2_NgaJpZM4PJo6Q .

OAkyildiz commented 7 years ago

Hello, there is a ros-kinetic fork, if you look at the timeline. I would link it but I am on mobile right now. I did not try it and the instructions are not updated, please let us know if you end up trying it.

kevin-george commented 7 years ago

Hey @OAkyildiz, Unfortunately there were way too many ros-kinetic forks. I haven't been check them all out, please let me know if you can find it!

kevin-george commented 7 years ago

So, after a fair amount of debugging and going through fixes in the pull requests I got it to work with Ubuntu 16.04 + ROS Kinetic + Latest version of G2O. If anyone wants to give it a try it's available at

https://github.com/kevin-george/lsd_slam.

Most of the work was already done in 269 but the latest G2O required me to make other changes. I will write a brief guide on the wiki soon :)

jsYangCode commented 6 years ago

rosmake @kevin-george , Hi, my friend, I have run the LSD-slam with16.04 +ROS kinetic according to the instruction on Github (just the installation for Ubuntu 14.04+ROS indigo), but some error occurs! can you give me some advice? so desperate!

bespoke-code commented 6 years ago

@Young532042725 there's a discussion about this problem in Issue #270. Remove all single quotation marks from all strings in each of the problematic .cfg files and you should be good to go.

jsYangCode commented 6 years ago

@bespoke-code Oh , my friend. i removed the single quotation marks according to grammar in each .cfg file. after rosmake.... another error!! desperate!
2018-01-20 13-18-44

kevin-george commented 6 years ago

Hello everyone, please go to my fork of the project and follow the instructions on the wiki. I have made all the fixes required for Ubuntu 16.04+ROS Kinetic+OpenCV3.

I have built and tested it as of today and things look peachy!

jsYangCode commented 6 years ago

@kevin-george thank u, my friend, so appreciate it! I will try.

oneTimePad commented 6 years ago

@kevin-george I tried compiling this with ROS Kinetic on the Jetson TX2 using your fork, but I receive a lot of compilation errors regarding the code itself. Such as missing semicolons and variables not declared. Could this be an issue with building it on arm?

kevin-george commented 6 years ago

I couldn't say much unless I see what the errors are. Missing semicolons sounds pretty serious :(

oneTimePad commented 6 years ago

Yeah didn't want to paste it since it's a long print out. Here is some of it:

lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/build.make:62: recipe for target 'lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/Frame.cpp.o' failed
make[2]: *** [lsd_slam/lsd_slam_core/CMakeFiles/lsdslam.dir/src/DataStructures/Frame.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/Sim3Tracker.h:26:0,
                 from /home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/Sim3Tracker.cpp:21:
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:129:11: error: ‘__m128’ does not name a type
     const __m128 &J1,const __m128 &J2,const __m128 &J3,const __m128 &J4,
           ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:129:28: error: ‘__m128’ does not name a type
     const __m128 &J1,const __m128 &J2,const __m128 &J3,const __m128 &J4,
                            ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:129:45: error: ‘__m128’ does not name a type
     const __m128 &J1,const __m128 &J2,const __m128 &J3,const __m128 &J4,
                                             ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:129:62: error: ‘__m128’ does not name a type
     const __m128 &J1,const __m128 &J2,const __m128 &J3,const __m128 &J4,
                                                              ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:130:11: error: ‘__m128’ does not name a type
     const __m128& res, const __m128& weight)
           ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:130:30: error: ‘__m128’ does not name a type
     const __m128& res, const __m128& weight)
                              ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h: In member function ‘void lsd_slam::LGS4::finishNoDivide()’:
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:68:4: error: ‘__m128’ was not declared in this scope
    __m128 a;
    ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:70:4: error: ‘a’ was not declared in this scope
    a = _mm_load_ps(SSEData+4*0);
    ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:70:31: error: ‘_mm_load_ps’ was not declared in this scope
    a = _mm_load_ps(SSEData+4*0);
                               ^
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h: In member function ‘void lsd_slam::LGS4::updateSSE(const int&, const int&, const int&, const int&, const int&, const int&)’:
/home/nvidia/ros_workspace/src/lsd_slam/lsd_slam_core/src/Tracking/LGSX.h:133:4: error: ‘__m128’ was not declared in this scope
    __m128 J1w = _mm_mul_ps(J1,weight);

oneTimePad commented 6 years ago

So I got it to build by removing add_definitions("-DENABLED_SSE") in the core CMakeLists.txt file.

bespoke-code commented 6 years ago

@oneTimePad just a quick suggestion - you could try to incorporate SSE2NEON in the code if you're building on ARM (nVidia Jetson) and you'd like to get more performance out of LSD-SLAM. SSE2NEON is a C++ header which converts SSE (x64) to NEON (ARM) instructions. This is what TUM Vision did in their newer DSO project - have a look!

oneTimePad commented 6 years ago

@bespoke-code Thank you! I'll definitely take a look!

LazerVater commented 6 years ago

Hi, Im running Ubuntu 16.04 and ROS Kinetic, and have compiled lsd slam from the @kevin-george fork, (many thanks !). Get quite a few warnings that ‘Eigen::AlignedBit’ is depriciated, but no errors. But when testing the build I am running into some problems. Here is what I am doing: roscore then rosrun lsd_slam_viewer viewer so far all seems to work, a small window pops up, but then when trying to run the lsd slam core by : rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info this error appears.


*** Error in `/home/peter/catkin_ws/devel/lib/lsd_slam_core/live_slam': double free or corruption (out): 0x000000000248f620 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f98373c97e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7f98373d237a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f98373d653c]
/opt/ros/kinetic/lib/libg2o_types_sba.so(_ZN3g2o26EdgeProjectP2MC_IntrinsicsD0Ev+0x2d)[0x7f9834dcddad]
/opt/ros/kinetic/lib/libg2o_core.so(_ZN3g2o7Factory12registerTypeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEPNS_32AbstractHyperGraphElementCreatorE+0x33f)[0x7f983524df8f]
/opt/ros/kinetic/lib/libg2o_types_sba.so(+0x1db2a)[0x7f9834dc7b2a]
/lib64/ld-linux-x86-64.so.2(+0x106ba)[0x7f98393236ba]
/lib64/ld-linux-x86-64.so.2(+0x107cb)[0x7f98393237cb]
/lib64/ld-linux-x86-64.so.2(+0xc6a)[0x7f9839313c6a]

Aborted (core dumped)

Any idea what the problem might be?

20chix commented 5 years ago

So, after a fair amount of debugging and going through fixes in the pull requests I got it to work with Ubuntu 16.04 + ROS Kinetic + Latest version of G2O. If anyone wants to give it a try it's available at

https://github.com/kevin-george/lsd_slam.

Most of the work was already done in 269 but the latest G2O required me to make other changes. I will write a brief guide on the wiki soon :)

life saver :)

slinshady89 commented 5 years ago

Hi, Im running Ubuntu 16.04 and ROS Kinetic, and have compiled lsd slam from the @kevin-george fork, (many thanks !). Get quite a few warnings that ‘Eigen::AlignedBit’ is depriciated, but no errors. But when testing the build I am running into some problems. Here is what I am doing: roscore then rosrun lsd_slam_viewer viewer so far all seems to work, a small window pops up, but then when trying to run the lsd slam core by : rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info this error appears.
*** Error in `/home/peter/catkin_ws/devel/lib/lsd_slam_core/live_slam': double free or corruption (out): 0x000000000248f620 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7f98373c97e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7f98373d237a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7f98373d653c]
/opt/ros/kinetic/lib/libg2o_types_sba.so(_ZN3g2o26EdgeProjectP2MC_IntrinsicsD0Ev+0x2d)[0x7f9834dcddad]
/opt/ros/kinetic/lib/libg2o_core.so(_ZN3g2o7Factory12registerTypeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEPNS_32AbstractHyperGraphElementCreatorE+0x33f)[0x7f983524df8f]
/opt/ros/kinetic/lib/libg2o_types_sba.so(+0x1db2a)[0x7f9834dc7b2a]
/lib64/ld-linux-x86-64.so.2(+0x106ba)[0x7f98393236ba]
/lib64/ld-linux-x86-64.so.2(+0x107cb)[0x7f98393237cb]
/lib64/ld-linux-x86-64.so.2(+0xc6a)[0x7f9839313c6a]

Aborted (core dumped)
Any idea what the problem might be?

Hey @LazerVater, I get the same errors this way. I guess it's due to his changes in the fork. If you start via the roslaunch command he provides the viz isn't working too for me.

He suggests to use rostopic echo /lsg_slam/pose to get the pose which unfortunately for me presents completly incorrect data since I'm not moving inside a miniature world

LazerVater commented 5 years ago

If I remember correctly the issue was resolved when i rolled my version of Eigen back to version 3.2.