LSD_Slam g2o - Githubissues

Hello,

I am trying to install LSD-SLAM on Ubuntu 16 + kinetic (for compatibility reason as I need to also control a robot). I fixed some compatibility issues but I am a bit lost with the following compilation error:

[ 13%] Building CXX object CMakeFiles/lsdslam.dir/src/GlobalMapping/KeyFrameGraph.cpp.o In file included from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.h:190:0, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:27: /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.hpp: In instantiation of ‘bool g2o::BlockSolver::solve() [with Traits = g2o::BlockSolverTraits<7, 3>]’: /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:376:1: required from here /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.hpp:374:3: error: no matching function for call to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >::add(g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >&)’ _Hpp->add(_Hschur); ^ In file included from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.h:240:0, from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_optimizer.h:33, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.h:27, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:21: /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.hpp:199:8: note: candidate: bool g2o::SparseBlockMatrix::add(g2o::SparseBlockMatrix&) const [with MatrixType = Eigen::Matrix<double, 7, 7>] bool SparseBlockMatrix::add(SparseBlockMatrix& dest) const ^ /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.hpp:199:8: note: no known conversion for argument 1 from ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >&’ CMakeFiles/lsdslam.dir/build.make:470: recipe for target 'CMakeFiles/lsdslam.dir/src/GlobalMapping/KeyFrameGraph.cpp.o' failed make[3]: [CMakeFiles/lsdslam.dir/src/GlobalMapping/KeyFrameGraph.cpp.o] Error 1 make[3]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' CMakeFiles/Makefile2:105: recipe for target 'CMakeFiles/lsdslam.dir/all' failed make[2]: [CMakeFiles/lsdslam.dir/all] Error 2 make[2]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' Makefile:127: recipe for target 'all' failed make[1]: *** [all] Error 2 make[1]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' /opt/ros/kinetic/share/mk/cmake.mk:7: recipe for target 'all' failed

If anybody already experienced this problem which is related to g2o as far as I understand, I will really appreciate your help because I am not really fluent in c++ .

Thank you very much

Did you install the latest g2o from source?

I actually tried with two versions of g2o (which explains the absolute path in the error log). The last version of g2o that I downloaded from github and the one provided with orb slam (as suggested in a previous issue). I don't know which version is the most appropriate but I agree with you that it looks like a problem of g2o version.

I also tried to install the last version of LSD SLAM (github) as well as the version available on your website (thx for sharing and helping btw) but I always end up with g2o errors.

If you built g2o from source, you should un-comment these lines 68-78 and comment 80-86

If you used ros-kinetic-libg2o, you should be able to compile the source as-is.

I have tried both, so I'm pretty sure either one should work :)

Thanks a lot I ll try asap and let you know which solution fixed this problem. Thank you again for your time and your help.

Hello

I commented the lines however it generated new compilation errors. I will have a look to see what is going on however if you have any idea it will be greatly appreciated:

from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.h:27, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:21: /home/XXX/Documents/lsdslam/g2o-master/g2o/stuff/misc.h: In instantiation of ‘std::unique_ptr<_Codecvt> g2o::make_unique(ArgTs&& ...) [with T = g2o::BlockSolver<g2o::BlockSolverTraits<7, 3> >; ArgTs = {std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 7, 7, 0, 7, 7> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, 7, 7, 0, 7, 7> > > >}]’: /home/george/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:77:69: required from here /home/george/Documents/lsdslam/g2o-master/g2o/stuff/misc.h:55:64: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<7, 3> >::BlockSolver(std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 7, 7> > >)’ return std::unique_ptr(new T(std::forward(args)...)); ^ In file included from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.h:190:0, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:27: /home/george/Documents/lsdslam/g2o-master/g2o/core/block_solver.hpp:42:1: note: candidate: g2o::BlockSolver::BlockSolver(g2o::BlockSolver::LinearSolverType) [with Traits = g2o::BlockSolverTraits<7, 3>; g2o::BlockSolver::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 7, 7> >] BlockSolver::BlockSolver(LinearSolverType linearSolver) : ^ /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.hpp:42:1: note: no known conversion for argument 1 from ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 7, 7> > >’ to ‘g2o::BlockSolver<g2o::BlockSolverTraits<7, 3> >::LinearSolverType {aka g2o::LinearSolver<Eigen::Matrix<double, 7, 7> >}’ In file included from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.h:190:0, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:27: /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.hpp: In instantiation of ‘bool g2o::BlockSolver::solve() [with Traits = g2o::BlockSolverTraits<7, 3>]’: /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:388:1: required from here /home/XXX/Documents/lsdslam/g2o-master/g2o/core/block_solver.hpp:374:3: error: no matching function for call to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >::add(g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >&)’ _Hpp->add(_Hschur); ^ In file included from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.h:240:0, from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_optimizer.h:33, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.h:27, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:21: /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.hpp:199:8: note: candidate: bool g2o::SparseBlockMatrix::add(g2o::SparseBlockMatrix&) const [with MatrixType = Eigen::Matrix<double, 7, 7>] bool SparseBlockMatrix::add(SparseBlockMatrix& dest) const ^ /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.hpp:199:8: note: no known conversion for argument 1 from ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >&’ CMakeFiles/lsdslam.dir/build.make:470: recipe for target 'CMakeFiles/lsdslam.dir/src/GlobalMapping/KeyFrameGraph.cpp.o' failed make[3]: [CMakeFiles/lsdslam.dir/src/GlobalMapping/KeyFrameGraph.cpp.o] Error 1 make[3]: Waiting for unfinished jobs.... make[3]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' CMakeFiles/Makefile2:105: recipe for target 'CMakeFiles/lsdslam.dir/all' failed make[2]: [CMakeFiles/lsdslam.dir/all] Error 2 make[2]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' Makefile:127: recipe for target 'all' failed make[1]: [all] Error 2 make[1]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' /opt/ros/kinetic/share/mk/cmake.mk:7: recipe for target 'all' failed

Thank you for your help

To follow up on my last comment, I also tried to use ros kinetic libg2o but still get a compilation error (I changed the keyframe.cpp file accordingly):

In file included from /opt/ros/kinetic/include/g2o/core/block_solver.h:189:0, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:27: /opt/ros/kinetic/include/g2o/core/block_solver.hpp: In instantiation of ‘bool g2o::BlockSolver::solve() [with Traits = g2o::BlockSolverTraits<7, 3>]’: /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:388:1: required from here /opt/ros/kinetic/include/g2o/core/block_solver.hpp:353:3: error: no matching function for call to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >::add(g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >&)’ _Hpp->add(_Hschur); ^ In file included from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.h:240:0, from /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_optimizer.h:33, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.h:27, from /home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/src/GlobalMapping/KeyFrameGraph.cpp:21: /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.hpp:199:8: note: candidate: bool g2o::SparseBlockMatrix::add(g2o::SparseBlockMatrix&) const [with MatrixType = Eigen::Matrix<double, 7, 7>] bool SparseBlockMatrix::add(SparseBlockMatrix& dest) const ^ /home/XXX/Documents/lsdslam/g2o-master/g2o/core/sparse_block_matrix.hpp:199:8: note: no known conversion for argument 1 from ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >’ to ‘g2o::SparseBlockMatrix<Eigen::Matrix<double, 7, 7> >&’ CMakeFiles/lsdslam.dir/build.make:470: recipe for target 'CMakeFiles/lsdslam.dir/src/GlobalMapping/KeyFrameGraph.cpp.o' failed make[3]: [CMakeFiles/lsdslam.dir/src/GlobalMapping/KeyFrameGraph.cpp.o] Error 1 make[3]: Waiting for unfinished jobs.... make[3]: Leaving directory '/home/george/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' CMakeFiles/Makefile2:105: recipe for target 'CMakeFiles/lsdslam.dir/all' failed make[2]: [CMakeFiles/lsdslam.dir/all] Error 2 make[2]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' Makefile:127: recipe for target 'all' failed make[1]: [all] Error 2 make[1]: Leaving directory '/home/XXX/rosbuild_ws/lsdSlamP/lsd_slam/lsd_slam_core/build' /opt/ros/kinetic/share/mk/cmake.mk:7: recipe for target 'all' failed

FIREWORKS it compiled ... sorry for the last two messages ... and thanks a lot @kevin-george (I owe you a beer if at some points you plan to visit London let me know ;) ) !!!

So basically it compiled using ros-kinetic-libg2o I just messed up with an include. Using this version of libg2o as mentioned by @kevin-george you can just use the keyframe.cpp file as it is.

Thanks again

Hey! I know this issue is closed, but I too am having issues compiling LSD-SLAM and the issue is related to g2o. I am compiling it to be used without the ROS dependencies. I have been trying out these repos:

The cmake .. command is executed successfully but on executing the make command, I recieve the following error:

[ 3%] Building CXX object CMakeFiles/lsdslam.dir/DataStructures/Frame.cpp.o In file included from /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/DataStructures/FramePoseStruct.h:23:0, from /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/DataStructures/Frame.h:26, from /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/DataStructures/Frame.cpp:21: /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h: In member function ‘virtual bool lsd_slam::EdgeSim3::setMeasurementData(const double)’: /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:96:20: error: ISO C++ forbids declaration of ‘type name’ with no type [-fpermissive] Eigen::Map v(m); ^~~ /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:96:33: error: template argument 1 is invalid Eigen::Map v(m); ^ /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:96:38: error: invalid conversion from ‘const double’ to ‘int’ [-fpermissive] Eigen::Map v(m); ^ /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/GlobalMapping/g2oTypeSim3Sophus.h:97:38: error: no matching function for call to ‘Sophus::Sim3Group::exp(int&)’ setMeasurement(Sophus::Sim3d::exp(v)); ^ In file included from /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/util/SophusUtil.h:23:0, from /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/DataStructures/Frame.h:22, from /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/DataStructures/Frame.cpp:21: /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/thirdparty/Sophus/sophus/sim3.hpp:418:27: note: candidate: static const Sophus::Sim3Group<typename Eigen::internal::traits::Scalar> Sophus::Sim3GroupBase::exp(const Tangent&) [with Derived = Sophus::Sim3Group; typename Eigen::internal::traits::Scalar = double; Sophus::Sim3GroupBase::Tangent = Eigen::Matrix<double, 7, 1>] const Sim3Group exp(const Tangent & a) { ^~~ /home/username/Downloads/lsd_slam-master-mp3guy/lsd_slam-master/lsd_slam_core/src/thirdparty/Sophus/sophus/sim3.hpp:418:27: note: no known conversion for argument 1 from ‘int’ to ‘const Tangent& {aka const Eigen::Matrix<double, 7, 1>&}’ CMakeFiles/lsdslam.dir/build.make:62: recipe for target 'CMakeFiles/lsdslam.dir/DataStructures/Frame.cpp.o' failed make[2]: [CMakeFiles/lsdslam.dir/DataStructures/Frame.cpp.o] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/lsdslam.dir/all' failed make[1]: [CMakeFiles/lsdslam.dir/all] Error 2

While 2 and 3 give the exact same error, 1 is a bit different:

[ 4%] Building CXX object CMakeFiles/lsd_slam.dir/depth_estimation/depth_map.cc.o In file included from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/depth_estimation/depth_map.h:28:0, from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/depth_estimation/depth_map.cc:21: /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:72:31: error: ‘SE3Group’ is not a class template extern template class Sophus::SE3Group<float, 0>; ^~~~ /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:72:31: error: ‘SE3Group’ in namespace ‘Sophus’ does not name a type /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:73:31: error: ‘SE3Group’ is not a class template extern template class Sophus::SE3Group<double, 0>; ^~~~ /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:73:31: error: ‘SE3Group’ in namespace ‘Sophus’ does not name a type /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:75:31: error: ‘Sim3Group’ is not a class template extern template class Sophus::Sim3Group<float, 0>; ^~~~~ /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:75:31: error: ‘Sim3Group’ in namespace ‘Sophus’ does not name a type /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:76:31: error: ‘Sim3Group’ is not a class template extern template class Sophus::Sim3Group<double, 0>; ^~~~~ /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:76:31: error: ‘Sim3Group’ in namespace ‘Sophus’ does not name a type In file included from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/model/frame_pose_struct.h:23:0, from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/model/frame.h:26, from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/depth_estimation/depth_map.cc:31: /home/username/Downloads/lsd_slam_noros-master/lsd_slam/global_mapping/g2o_type_sim3_sophus.h: In member function ‘virtual bool lsd_slam::EdgeSim3::setMeasurementData(const double)’: /home/username/Downloads/lsd_slam_noros-master/lsd_slam/global_mapping/g2o_type_sim3_sophus.h:96:20: error: ISO C++ forbids declaration of ‘type name’ with no type [-fpermissive] Eigen::Map v(m); ^~~ /home/username/Downloads/lsd_slam_noros-master/lsd_slam/global_mapping/g2o_type_sim3_sophus.h:96:33: error: template argument 1 is invalid Eigen::Map v(m); ^ /home/username/Downloads/lsd_slam_noros-master/lsd_slam/global_mapping/g2o_type_sim3_sophus.h:96:38: error: invalid conversion from ‘const double’ to ‘int’ [-fpermissive] Eigen::Map v(m); ^ /home/username/Downloads/lsd_slam_noros-master/lsd_slam/global_mapping/g2o_type_sim3_sophus.h:97:38: error: no matching function for call to ‘Sophus::Sim3::exp(int&)’ setMeasurement(Sophus::Sim3d::exp(v)); ^ In file included from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/util/sophus_util.h:23:0, from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/depth_estimation/depth_map.h:28, from /home/username/Downloads/lsd_slam_noros-master/lsd_slam/depth_estimation/depthmap.cc:21: /usr/local/include/sophus/sim3.hpp:439:35: note: candidate: static Sophus::Sim3<Scalar> Sophus::Sim3<Scalar, Options>::exp(const Tangent&) [with Scalar = double; int Options = 0; Sophus::Sim3<Scalar_, Options>::Tangent = Eigen::Matrix<double, 7, 1, 0, 7, 1>] SOPHUS_FUNC static Sim3 exp(Tangent const& a) { ^~~ /usr/local/include/sophus/sim3.hpp:439:35: note: no known conversion for argument 1 from ‘int’ to ‘const Tangent& {aka const Eigen::Matrix<double, 7, 1, 0, 7, 1>&}’ CMakeFiles/lsd_slam.dir/build.make:62: recipe for target 'CMakeFiles/lsd_slam.dir/depth_estimation/depth_map.cc.o' failed make[2]: [CMakeFiles/lsd_slam.dir/depth_estimation/depth_map.cc.o] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/lsd_slam.dir/all' failed make[1]: [CMakeFiles/lsd_slam.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2

But even this has the error related to this line(link takes you to g2oTypeSim3Sophus.h, the file that contains this line of code) : Eigen::Map<const g2o::Vector7d> v(m);

All three repos already have the changes suggested by @kevin-george in this comment.

I would really be grateful if anybody has any suggestions as to how I should proceed. I have also opened an issue here regarding the same.

Thank You :+1:

tum-vision / lsd_slam

LSD_Slam g2o #276