search

tum-vision / lsd_slam

LSD-SLAM
GNU General Public License v3.0
2.61k stars 1.23k forks source link

no window live_slam !!! and no tracking! #30

Open tyutyuginslava opened 9 years ago

tyutyuginslava commented 9 years ago

Hello again! I started all over again) to reinstall Ubuntu 14.04, ROS Indigo and installed Opencv 2.4.8 https://github.com/Itseez/opencv/tree/2.4.8.x-prep

Installed lsd-slam with openFabMap and uncommented line in lsd_slam_core / CMakeLists.txt

Installation problems was not, but now at start

slava@slava-ubuntu:~$ rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info WAITING for ROS camera calibration! Received ROS Camera Calibration: fx: 254.326950, fy: 375.934387, cx: 267.381897, cy: 231.599091 @ 640x480 RECEIVED ROS camera calibration! Started mapping thread! Started constraint search thread! Doing Random initialization! Started optimization thread started image display thread! Done Random initialization! init done opengl support available TRACKING LOST for frame 574 (0,00% good Points, which is 16,67% of available points, DIVERGED)! Backward-Jump in SEQ detected, but ignoring for now.

and rosbag play -l LSD_room.bag and rosrun lsd_slam_viewer viewer

no window live_slam !!! and no tracking!

viewer window appears

https://drive.google.com/file/d/0B_w8l8HXXdd8QzZWcmNiMVBpUFk/view?usp=sharing

Help me please!

JakobEngel commented 9 years ago

Hmm, the only problem I can think of is, that the opengl-version of OpenCV image display doesn't work for some reason... but I can't really tell you how to fix that, sorry.

XinkeAE commented 9 years ago

hey @tyutyuginslava,

I got the same issue. Did you solve this problem?

XinkeAE commented 9 years ago

@tyutyuginslava I just tried to uninstall the openCV library and then lsd slam works.

@JakobEngel I want to ask why do you recommend opencv 2.4.8 instead of other versions. Maybe we can try to fix this problem.

Thanks!

JakobEngel commented 9 years ago

On our test system there was some incompatibility issue when installing the newest OpenCV version (some internal change regarding integral image computation) - we never really found out how to solve it properly, other than installing an old version. The easiest fix is to leave out opeenFABMAP, if you don't really need it ;)

The problem that no image shows at all can be fixed by using another image display mechanism - I guess it would be about a day's work to do implement that (simple OpenGL image rendering window with keyboard-listener).

romulogcerqueira commented 9 years ago

I have the same error. @tyutyuginslava did you solve this problem?

weblucas commented 9 years ago

I had the same problem. I just fixed. LSD_slam depends of OpenCV. But I use another version of openCV 2.4.9 in another ros package.

How to solve?

use the command ldd to check if the openCV libraries in use are the ones inside of the /usr/lib. Below the output of my ldd live_slam. This setup is working now.

lucas@curie:~/catkin_ws/devel/lib/lsd_slam_core$ ldd live_slam linux-vdso.so.1 => (0x00007fffcb5fe000) liblsdslam.so => /home/lucas/catkin_ws/devel/lib/liblsdslam.so (0x00007fc861fe6000) libdynamic_reconfigure_config_init_mutex.so => /opt/ros/indigo/lib/libdynamic_reconfigure_config_init_mutex.so (0x00007fc861ddf000) libroslib.so => /opt/ros/indigo/lib/libroslib.so (0x00007fc861bce000) libroscpp.so => /opt/ros/indigo/lib/libroscpp.so (0x00007fc86187b000) librosconsole.so => /opt/ros/indigo/lib/librosconsole.so (0x00007fc861651000) libroscpp_serialization.so => /opt/ros/indigo/lib/libroscpp_serialization.so (0x00007fc86144e000) libboost_system.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.54.0 (0x00007fc86121b000) libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fc860ffc000) libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007fc860cc7000) libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fc8609c3000) libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fc8607ac000) libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fc8603e6000) libg2o_csparse_extension.so => /opt/ros/indigo/lib/libg2o_csparse_extension.so (0x00007fc8601da000) libg2o_core.so => /opt/ros/indigo/lib/libg2o_core.so (0x00007fc85fdb0000) libg2o_stuff.so => /opt/ros/indigo/lib/libg2o_stuff.so (0x00007fc85fb70000) libg2o_types_sba.so => /opt/ros/indigo/lib/libg2o_types_sba.so (0x00007fc85f461000) libcv_bridge.so => /opt/ros/indigo/lib/libcv_bridge.so (0x00007fc85f251000) libopencv_imgproc.so.2.4 => /home/lucas/catkin_ws/devel/lib/libopencv_imgproc.so.2.4 (0x00007fc85ed58000) libopencv_highgui.so.2.4 => /home/lucas/catkin_ws/devel/lib/libopencv_highgui.so.2.4 (0x00007fc85eac0000) libopencv_core.so.2.4 => /home/lucas/catkin_ws/devel/lib/libopencv_core.so.2.4 (0x00007fc85e623000) libopencv_calib3d.so.2.4 => /home/lucas/catkin_ws/devel/lib/libopencv_calib3d.so.2.4 (0x00007fc85e382000) librostime.so => /opt/ros/indigo/lib/librostime.so (0x00007fc85e158000) libboost_thread.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.54.0 (0x00007fc85df41000) libcxsparse.so.3.1.2 => /usr/lib/x86_64-linux-gnu/libcxsparse.so.3.1.2 (0x00007fc85dd17000) libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fc85da11000) librospack.so => /opt/ros/indigo/lib/librospack.so (0x00007fc85d7cc000) libxmlrpcpp.so => /opt/ros/indigo/lib/libxmlrpcpp.so (0x00007fc85d5ae000) libcpp_common.so => /opt/ros/indigo/lib/libcpp_common.so (0x00007fc85d3a5000) libboost_filesystem.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.54.0 (0x00007fc85d18f000) librosconsole_log4cxx.so => /opt/ros/indigo/lib/librosconsole_log4cxx.so (0x00007fc85cf7b000) librosconsole_backend_interface.so => /opt/ros/indigo/lib/librosconsole_backend_interface.so (0x00007fc85cd78000) liblog4cxx.so.10 => /usr/lib/liblog4cxx.so.10 (0x00007fc85c990000) libboost_regex.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_regex.so.1.54.0 (0x00007fc85c689000) /lib64/ld-linux-x86-64.so.2 (0x00007fc8622d5000) libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007fc85c469000) libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007fc85c265000) librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fc85c05c000) libtbb.so.2 => /usr/lib/libtbb.so.2 (0x00007fc85be28000) libGL.so.1 => /usr/lib/x86_64-linux-gnu/mesa/libGL.so.1 (0x00007fc85bbc1000) libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007fc85b96c000) libpng12.so.0 => /lib/x86_64-linux-gnu/libpng12.so.0 (0x00007fc85b746000) libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007fc85b4d3000) libjasper.so.1 => /usr/lib/x86_64-linux-gnu/libjasper.so.1 (0x00007fc85b27c000) libIlmImf.so.6 => /usr/lib/x86_64-linux-gnu/libIlmImf.so.6 (0x00007fc85afcd000) libHalf.so.6 => /usr/lib/x86_64-linux-gnu/libHalf.so.6 (0x00007fc85ad89000) libgstreamer-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstreamer-0.10.so.0 (0x00007fc85aa9f000) libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007fc85a84e000) libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007fc85a545000) libgstapp-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstapp-0.10.so.0 (0x00007fc85a339000) libgstvideo-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstvideo-0.10.so.0 (0x00007fc85a11d000) libdc1394.so.22 => /usr/lib/x86_64-linux-gnu/libdc1394.so.22 (0x00007fc859ea8000) libv4l1.so.0 => /usr/lib/x86_64-linux-gnu/libv4l1.so.0 (0x00007fc859ca2000) libavcodec.so.54 => /usr/lib/x86_64-linux-gnu/libavcodec.so.54 (0x00007fc858f4d000) libavformat.so.54 => /usr/lib/x86_64-linux-gnu/libavformat.so.54 (0x00007fc858c2a000) libavutil.so.52 => /usr/lib/x86_64-linux-gnu/libavutil.so.52 (0x00007fc858a05000) libswscale.so.2 => /usr/lib/x86_64-linux-gnu/libswscale.so.2 (0x00007fc8587be000) libQt5Core.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Core.so.5 (0x00007fc858117000) libQt5Gui.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Gui.so.5 (0x00007fc857aca000) libQt5Widgets.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5 (0x00007fc8572a1000) libQt5Test.so.5 => /usr/lib/x86_64-linux-gnu/libQt5Test.so.5 (0x00007fc857077000) libQt5OpenGL.so.5 => /usr/lib/x86_64-linux-gnu/libQt5OpenGL.so.5 (0x00007fc856e13000) libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007fc856bf9000) libopencv_flann.so.2.4 => /home/lucas/catkin_ws/devel/lib/libopencv_flann.so.2.4 (0x00007fc856985000) libopencv_features2d.so.2.4 => /home/lucas/catkin_ws/devel/lib/libopencv_features2d.so.2.4 (0x00007fc8566d5000) libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007fc8564bf000) libboost_program_options.so.1.54.0 => /usr/lib/x86_64-linux-gnu/libboost_program_options.so.1.54.0 (0x00007fc856251000) libpython2.7.so.1.0 => /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 (0x00007fc855ce9000) libconsole_bridge.so.0.2 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.0.2 (0x00007fc855adf000) libaprutil-1.so.0 => /usr/lib/x86_64-linux-gnu/libaprutil-1.so.0 (0x00007fc8558b7000) libapr-1.so.0 => /usr/lib/x86_64-linux-gnu/libapr-1.so.0 (0x00007fc855686000) libicuuc.so.52 => /usr/lib/x86_64-linux-gnu/libicuuc.so.52 (0x00007fc85530d000) libicui18n.so.52 => /usr/lib/x86_64-linux-gnu/libicui18n.so.52 (0x00007fc854f04000) libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007fc854d00000) libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007fc854afa000) libglapi.so.0 => /usr/lib/x86_64-linux-gnu/libglapi.so.0 (0x00007fc8548d2000) libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007fc8546c0000) libXdamage.so.1 => /usr/lib/x86_64-linux-gnu/libXdamage.so.1 (0x00007fc8544bd000) libXfixes.so.3 => /usr/lib/x86_64-linux-gnu/libXfixes.so.3 (0x00007fc8542b6000) libX11-xcb.so.1 => /usr/lib/x86_64-linux-gnu/libX11-xcb.so.1 (0x00007fc8540b4000) libxcb-glx.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-glx.so.0 (0x00007fc853e9d000) libxcb-dri2.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri2.so.0 (0x00007fc853c97000) libxcb-dri3.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-dri3.so.0 (0x00007fc853a94000) libxcb-present.so.0 => /usr/lib/x86_64-linux-gnu/libxcb-present.so.0 (0x00007fc853891000) libxcb-sync.so.1 => /usr/lib/x86_64-linux-gnu/libxcb-sync.so.1 (0x00007fc85368a000) libxshmfence.so.1 => /usr/lib/x86_64-linux-gnu/libxshmfence.so.1 (0x00007fc853488000) libXxf86vm.so.1 => /usr/lib/x86_64-linux-gnu/libXxf86vm.so.1 (0x00007fc853282000) libdrm.so.2 => /usr/lib/x86_64-linux-gnu/libdrm.so.2 (0x00007fc853075000) liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007fc852e53000) libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007fc852c44000) libIex.so.6 => /usr/lib/x86_64-linux-gnu/libIex.so.6 (0x00007fc852a26000) libIlmThread.so.6 => /usr/lib/x86_64-linux-gnu/libIlmThread.so.6 (0x00007fc852820000) libgmodule-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgmodule-2.0.so.0 (0x00007fc85261b000) libxml2.so.2 => /usr/lib/x86_64-linux-gnu/libxml2.so.2 (0x00007fc8522b5000) libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007fc8520ac000) libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007fc851e6e000) libgstbase-0.10.so.0 => /usr/lib/x86_64-linux-gnu/libgstbase-0.10.so.0 (0x00007fc851c1a000) liborc-0.4.so.0 => /usr/lib/x86_64-linux-gnu/liborc-0.4.so.0 (0x00007fc851997000) libraw1394.so.11 => /usr/lib/x86_64-linux-gnu/libraw1394.so.11 (0x00007fc851789000) libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007fc851572000) libv4l2.so.0 => /usr/lib/x86_64-linux-gnu/libv4l2.so.0 (0x00007fc851363000) libxvidcore.so.4 => /usr/lib/x86_64-linux-gnu/libxvidcore.so.4 (0x00007fc851025000) libx264.so.142 => /usr/lib/x86_64-linux-gnu/libx264.so.142 (0x00007fc850c8e000) libvpx.so.1 => /usr/lib/x86_64-linux-gnu/libvpx.so.1 (0x00007fc8508ad000) libvorbisenc.so.2 => /usr/lib/x86_64-linux-gnu/libvorbisenc.so.2 (0x00007fc850601000) libvorbis.so.0 => /usr/lib/x86_64-linux-gnu/libvorbis.so.0 (0x00007fc8503d1000) libtheoraenc.so.1 => /usr/lib/x86_64-linux-gnu/libtheoraenc.so.1 (0x00007fc850190000) libtheoradec.so.1 => /usr/lib/x86_64-linux-gnu/libtheoradec.so.1 (0x00007fc84ff77000) libspeex.so.1 => /usr/lib/x86_64-linux-gnu/libspeex.so.1 (0x00007fc84fd5e000) libschroedinger-1.0.so.0 => /usr/lib/x86_64-linux-gnu/libschroedinger-1.0.so.0 (0x00007fc84fa99000) libopus.so.0 => /usr/lib/x86_64-linux-gnu/libopus.so.0 (0x00007fc84f851000) libopenjpeg.so.2 => /usr/lib/x86_64-linux-gnu/libopenjpeg.so.2 (0x00007fc84f62f000) libmp3lame.so.0 => /usr/lib/x86_64-linux-gnu/libmp3lame.so.0 (0x00007fc84f3a1000) libgsm.so.1 => /usr/lib/x86_64-linux-gnu/libgsm.so.1 (0x00007fc84f193000) libfdk-aac.so.0 => /usr/lib/x86_64-linux-gnu/libfdk-aac.so.0 (0x00007fc84eee6000) libva.so.1 => /usr/lib/x86_64-linux-gnu/libva.so.1 (0x00007fc84eccf000) librtmp.so.0 => /usr/lib/x86_64-linux-gnu/librtmp.so.0 (0x00007fc84eab5000) libgnutls.so.26 => /usr/lib/x86_64-linux-gnu/libgnutls.so.26 (0x00007fc84e7f6000) libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007fc84e5e6000) libharfbuzz.so.0 => /usr/lib/x86_64-linux-gnu/libharfbuzz.so.0 (0x00007fc84e391000) libutil.so.1 => /lib/x86_64-linux-gnu/libutil.so.1 (0x00007fc84e18d000) libcrypt.so.1 => /lib/x86_64-linux-gnu/libcrypt.so.1 (0x00007fc84df54000) libexpat.so.1 => /lib/x86_64-linux-gnu/libexpat.so.1 (0x00007fc84dd2a000) libuuid.so.1 => /lib/x86_64-linux-gnu/libuuid.so.1 (0x00007fc84db24000) libicudata.so.52 => /usr/lib/x86_64-linux-gnu/libicudata.so.52 (0x00007fc84c2b7000) libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007fc84c0a5000) libv4lconvert.so.0 => /usr/lib/x86_64-linux-gnu/libv4lconvert.so.0 (0x00007fc84be2c000) libogg.so.0 => /usr/lib/x86_64-linux-gnu/libogg.so.0 (0x00007fc84bc22000) libgcrypt.so.11 => /lib/x86_64-linux-gnu/libgcrypt.so.11 (0x00007fc84b9a3000) libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x00007fc84b78e000) libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x00007fc84b54c000) libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007fc84b2a9000) libgraphite2.so.3 => /usr/lib/x86_64-linux-gnu/libgraphite2.so.3 (0x00007fc84b08c000) libcgmanager.so.0 => /lib/x86_64-linux-gnu/libcgmanager.so.0 (0x00007fc84ae71000) libnih.so.1 => /lib/x86_64-linux-gnu/libnih.so.1 (0x00007fc84ac59000) libnih-dbus.so.1 => /lib/x86_64-linux-gnu/libnih-dbus.so.1 (0x00007fc84aa4e000) libdbus-1.so.3 => /lib/x86_64-linux-gnu/libdbus-1.so.3 (0x00007fc84a809000) libgpg-error.so.0 => /lib/x86_64-linux-gnu/libgpg-error.so.0 (0x00007fc84a604000)

XinkeAE commented 9 years ago

Hi,

This is my way to address this problem.

I found the reason of this problem is the incompatibility between LSD-SLAM and QT in openCV. Therefore the easiest solution is while install opencv just leave QT option alone.

You can do this while installing opencv:

cmake -D WITH_TBB=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_OPENGL=ON -D WITH_VTK=ON ..

I hope this can help a little bit.

-Xinke(UIUC)

HChengmeng commented 9 years ago

I had the same problem.With your method,@XinkeAE ,LSD-SLAM works now. About this problem on my system: The ubuntu system provider QT4, and I installed QT5. The opencv complied with QT5, but the viewer is linked with QT4. After reinstall opencv leave QT option alone,it works

GrimHull commented 8 years ago

Had the same issue. @XinkeAE 's method worked for me too.

ramtinkr commented 8 years ago

@JakobEngel @tyutyuginslava @XinkeAE @romulogcerqueira @weblucas

Hello guys,

I have a problem in compiling live_slam, I am using a webcam Logitech HD C270 and I can launch it with "roslaunch usb_cam usb_cam.launch" but when I try the command: rosrun lsd_slam_core live_slam /image:=/usb_cam/image_mono _calib:=MSHD3000_calib.cfg An error of Tracking lost showed up : rosrun lsd_slam_core live_slam /image:=/usb_cam/image_mono _calib:=MSHD3000_calib.cfg Trying /home/ramtin1/rosbuild_ws/package_dir/lsd_slam/lsd_slam_core/calib/MSHD3000_calib.cfg ... found! found OpenCV camera model, building rectifier. Input resolution: 640 480 In: 855.471680 860.987244 317.775604 303.002625 0.295136 -5.695929 0.024557 -0.003866 Out: Crop Output resolution: 640 480 Started mapping thread! Started constraint search thread! Started optimization thread Doing Random initialization! started image display thread! Done Random initialization! init done opengl support available TRACKING LOST for frame 187 (0,93% good Points, which is 98,62% of available points, DIVERGED)!

It would be great if you can maybe give me guidlines how to solve the error. Is it something wrong with my Calibration file ? I have calibrated my webcam with the software (Agisoft Lens) lsd-slam error