yan99033
commented
4 years ago I ran catkin_make to build the project. Try to remove 'devel' and 'build' folders and do catkin_makeagain.
Open geothan opened 4 years ago
yan99033
commented
4 years ago I ran catkin_make to build the project. Try to remove 'devel' and 'build' folders and do catkin_makeagain.
geothan
commented
4 years ago i reinstalled everything from scratch and tried catkin_make. Now, i get fatal error: monodepth/monodepth.h: No such file or directory
george@ubuntu:~/catkin_ws$ catkin_make Base path: /home/george/catkin_ws Source space: /home/george/catkin_ws/src Build space: /home/george/catkin_ws/build Devel space: /home/george/catkin_ws/devel Install space: /home/george/catkin_ws/install Creating symlink "/home/george/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
-- Using CATKIN_DEVEL_PREFIX: /home/george/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/george/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~
-- ~~ traversing 8 packages in topological order:
-- ~~ - rqt_svo
-- ~~ - svo_analysis
-- ~~ - svo_msgs
-- ~~ - vikit_common
-- ~~ - vikit_py
-- ~~ - vikit_ros
-- ~~ - svo
-- ~~ - svo_ros
-- ~~~~~~~~~~~~~
-- +++ processing catkin package: 'rqt_svo'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/rqt_svo)
-- +++ processing catkin package: 'svo_analysis'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_analysis)
-- +++ processing catkin package: 'svo_msgs'
-- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- svo_msgs: 4 messages, 0 services
-- +++ processing catkin package: 'vikit_common'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_common)
-- Eigen found (include: /usr/include/eigen3)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'vikit_py'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_py)
-- +++ processing catkin package: 'vikit_ros'
-- ==> add_subdirectory(CNN-SVO/rpg_vikit/vikit_ros)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
CMake Warning at /opt/ros/melodic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
The FindEigen.cmake Module in the cmake_modules package is deprecated.
Please use the FindEigen3.cmake Module provided with Eigen. Change instances of find_package(Eigen) to find_package(Eigen3). Check the FindEigen3.cmake Module for the resulting CMake variable names.
Call Stack (most recent call first): CNN-SVO/rpg_vikit/vikit_ros/CMakeLists.txt:21 (FIND_PACKAGE)
-- Eigen found (include: /usr/include/eigen3) -- +++ processing catkin package: 'svo' -- ==> add_subdirectory(CNN-SVO/rpg_svo/svo) -- Eigen found (include: /usr/include/eigen3) -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- system -- chrono -- date_time -- atomic -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy -- +++ processing catkin package: 'svo_ros' -- ==> add_subdirectory(CNN-SVO/rpg_svo/svo_ros) -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy CMake Warning at /opt/ros/melodic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message): The FindEigen.cmake Module in the cmake_modules package is deprecated.
Please use the FindEigen3.cmake Module provided with Eigen. Change instances of find_package(Eigen) to find_package(Eigen3). Check the FindEigen3.cmake Module for the resulting CMake variable names.
Call Stack (most recent call first): CNN-SVO/rpg_svo/svo_ros/CMakeLists.txt:51 (FIND_PACKAGE)
-- Eigen found (include: /usr/include/eigen3) -- Boost version: 1.65.1 -- Found the following Boost libraries: -- thread -- chrono -- system -- date_time -- atomic -- Configuring done -- Generating done -- Build files have been written to: /home/george/catkin_ws/build
[ 0%] Built target sensor_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_lisp [ 0%] Built target geometry_msgs_generate_messages_nodejs [ 0%] Built target sensor_msgs_generate_messages_nodejs [ 0%] Built target geometry_msgs_generate_messages_py [ 0%] Built target sensor_msgs_generate_messages_py [ 0%] Built target _svo_msgs_generate_messages_check_deps_DenseInput [ 0%] Built target geometry_msgs_generate_messages_cpp [ 0%] Built target _svo_msgs_generate_messages_check_deps_NbvTrajectory [ 0%] Built target sensor_msgs_generate_messages_cpp [ 0%] Built target _svo_msgs_generate_messages_check_deps_Feature [ 0%] Built target _svo_msgs_generate_messages_check_deps_Info [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target geometry_msgs_generate_messages_eus Scanning dependencies of target vikit_common [ 1%] Generating C++ code from svo_msgs/Info.msg [ 2%] Generating C++ code from svo_msgs/Feature.msg [ 4%] Generating C++ code from svo_msgs/DenseInput.msg [ 5%] Generating Javascript code from svo_msgs/Info.msg [ 6%] Generating Lisp code from svo_msgs/Info.msg [ 8%] Generating Python from MSG svo_msgs/Info [ 9%] Generating EusLisp code from svo_msgs/Info.msg [ 10%] Generating Lisp code from svo_msgs/Feature.msg [ 12%] Generating Javascript code from svo_msgs/Feature.msg [ 13%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/atan_camera.cpp.o [ 14%] Generating EusLisp code from svo_msgs/Feature.msg [ 16%] Generating Lisp code from svo_msgs/DenseInput.msg [ 17%] Generating Javascript code from svo_msgs/DenseInput.msg [ 18%] Generating Python from MSG svo_msgs/Feature [ 20%] Generating Python from MSG svo_msgs/DenseInput [ 21%] Generating C++ code from svo_msgs/NbvTrajectory.msg [ 24%] Generating Javascript code from svo_msgs/NbvTrajectory.msg [ 24%] Generating Lisp code from svo_msgs/NbvTrajectory.msg [ 25%] Generating Python from MSG svo_msgs/NbvTrajectory [ 27%] Generating EusLisp code from svo_msgs/DenseInput.msg [ 27%] Built target svo_msgs_generate_messages_lisp [ 27%] Built target svo_msgs_generate_messages_nodejs [ 28%] Generating EusLisp code from svo_msgs/NbvTrajectory.msg [ 29%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/omni_camera.cpp.o [ 31%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/math_utils.cpp.o [ 32%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/vision.cpp.o [ 33%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/performance_monitor.cpp.o [ 35%] Generating Python msg init.py for svo_msgs [ 36%] Built target svo_msgs_generate_messages_eus [ 36%] Built target svo_msgs_generate_messages_cpp [ 37%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/robust_cost.cpp.o [ 39%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/user_input_thread.cpp.o [ 39%] Built target svo_msgs_generate_messages_py [ 39%] Built target svo_msgs_generate_messages [ 40%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/pinhole_camera.cpp.o [ 41%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/homography.cpp.o [ 43%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/vikit_common.dir/src/img_align.cpp.o [ 44%] Linking CXX shared library /home/george/catkin_ws/devel/lib/libvikit_common.so [ 44%] Built target vikit_common Scanning dependencies of target test_vk_common_triangulation Scanning dependencies of target test_vk_common_camera Scanning dependencies of target test_vk_common_patch_score Scanning dependencies of target vikit_ros [ 45%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_patch_score.dir/test/test_patch_score.cpp.o [ 47%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_camera.dir/test/test_camera.cpp.o [ 48%] Building CXX object CNN-SVO/rpg_vikit/vikit_common/CMakeFiles/test_vk_common_triangulation.dir/test/test_triangulation.cpp.o [ 50%] Building CXX object CNN-SVO/rpg_vikit/vikit_ros/CMakeFiles/vikit_ros.dir/src/output_helper.cpp.o [ 51%] Linking CXX executable /home/george/catkin_ws/devel/lib/vikit_common/test_vk_common_patch_score [ 51%] Built target test_vk_common_patch_score [ 52%] Linking CXX executable /home/george/catkin_ws/devel/lib/vikit_common/test_vk_common_camera [ 54%] Linking CXX executable /home/george/catkin_ws/devel/lib/vikit_common/test_vk_common_triangulation [ 54%] Built target test_vk_common_camera [ 54%] Built target test_vk_common_triangulation [ 55%] Linking CXX shared library /home/george/catkin_ws/devel/lib/libvikit_ros.so [ 55%] Built target vikit_ros Scanning dependencies of target svo [ 58%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_base.cpp.o [ 59%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_mono.cpp.o [ 59%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_monodepth.cpp.o [ 60%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame.cpp.o [ 62%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/map.cpp.o [ 63%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/point.cpp.o [ 64%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/pose_optimizer.cpp.o [ 66%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/initialization.cpp.o [ 67%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/initialization_monodepth.cpp.o [ 68%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/matcher.cpp.o [ 70%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/reprojector.cpp.o [ 71%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/feature_alignment.cpp.o [ 72%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/feature_detection.cpp.o [ 74%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/depth_filter.cpp.o [ 75%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/config.cpp.o [ 77%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/sparse_img_align.cpp.o [ 78%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/bundle_adjustment.cpp.o make[2]: No rule to make target '/home/george/catkin_ws/src/CNN-VO/monodepth/install/lib/libmonodepth_static.a', needed by '/home/george/catkin_ws/devel/lib/libsvo.so'. Stop. make[2]: Waiting for unfinished jobs.... [ 79%] Building CXX object CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_online.cpp.o In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_svo/svo/src/frame_handler_online.cpp:18:0: /home/george/catkin_ws/src/CNN-SVO/rpg_svo/svo/include/svo/frame_handler_online.h:26:10: fatal error: monodepth/monodepth.h: No such file or directory
^~~~~~~~~~~~~~~~~~~~~~~compilation terminated. CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/build.make:470: recipe for target 'CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_online.cpp.o' failed make[2]: [CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/src/frame_handler_online.cpp.o] Error 1 CMakeFiles/Makefile2:2940: recipe for target 'CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/all' failed make[1]: [CNN-SVO/rpg_svo/svo/CMakeFiles/svo.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j8 -l8" failed
yan99033
commented
4 years ago Sorry for the late reply.
You should build the monodepth-cpp library separately and then link your svo library to the monodepth-cpp library.
zinuok
commented
2 years ago @geothan did you solve this problem ? I'm stuck at exactly the same problem as you, in ROS melodic + Ubuntu 18.04. any update so far .. ?
i have already installed Sophus, Fast and g2o from: https://github.com/uzh-rpg/rpg_svo/wiki/Installation:-ROS and i tried to build CNN-SVO, but during compilation i get these errors, could someone give me a hint? How did you manage to build this project?
`----------------------------------------------------------- Profile: default Extending: [env] /opt/ros/melodic Workspace: /home/george/catkin_ws
Build Space: [exists] /home/george/catkin_ws/build Devel Space: [exists] /home/george/catkin_ws/devel Install Space: [unused] /home/george/catkin_ws/install Log Space: [missing] /home/george/catkin_ws/logs Source Space: [exists] /home/george/catkin_ws/src DESTDIR: [unused] None
Devel Space Layout: linked Install Space Layout: None
Additional CMake Args: None Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False
Whitelisted Packages: None Blacklisted Packages: None
Workspace configuration appears valid.
NOTE: Forcing CMake to run for each package.
[build] Found '8' packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_tools_prebuild
Finished <<< catkin_tools_prebuild [ 1.6 seconds ]
Starting >>> rqt_svo
Starting >>> svo_analysis
Starting >>> svo_msgs
Starting >>> vikit_common
Starting >>> vikit_py
Finished <<< svo_analysis [ 2.4 seconds ]
Finished <<< rqt_svo [ 2.5 seconds ]
Warnings << vikit_common:cmake /home/george/catkin_ws/logs/vikit_common/build.cmake.000.log
CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message): catkin_package() DEPENDS on 'Sophus' but neither 'Sophus_INCLUDE_DIRS' nor 'Sophus_LIBRARIES' is defined. Call Stack (most recent call first): /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) CMakeLists.txt:30 (catkin_package)
cd /home/george/catkin_ws/build/vikit_common; catkin build --get-env vikit_common | catkin env -si /usr/bin/cmake /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/george/catkin_ws/devel/.private/vikit_common -DCMAKE_INSTALL_PREFIX=/home/george/catkin_ws/install; cd - ......................................................................................................................................................................................... Finished <<< vikit_py [ 2.7 seconds ]
Finished <<< svo_msgs [ 3.9 seconds ]
Errors << vikit_common:make /home/george/catkin_ws/logs/vikit_common/build.make.000.log
In file included from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8:0: /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:147:18: error: reference to ‘Matrix’ is ambiguous Matrix<double,2,6> & frame_jac) ^
~In file included from /opt/ros/melodic/include/sophus/rotation_matrix.hpp:7:0, from /opt/ros/melodic/include/sophus/so3.hpp:4, from /opt/ros/melodic/include/sophus/se3.h:4, from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:14, from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8: /opt/ros/melodic/include/sophus/types.hpp:37:43: note: candidates are: template<class Scalar, int M, int N> using Matrix = Eigen::Matrix<Scalar, M, N> using Matrix = Eigen::Matrix<Scalar, M, N>; ^ In file included from /usr/include/eigen3/Eigen/Core:346:0, from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/include/vikit/math_utils.h:12, from /home/george/catkin_ws/src/CNN-SVO/rpg_vikit/vikit_common/src/math_utils.cpp:8: /usr/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h:74:9: note: template<class _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols> class Eigen::Matrix