search

zhoupengwei / tloam

T-LOAM: Truncated Least Squares Lidar-only Odometry and Mapping in Real-Time
GNU General Public License v3.0
237 stars 38 forks source link

I am making an docker image for this project #11

Open boyang9602 opened 2 months ago

boyang9602 commented 2 months ago

Update

Check: https://github.com/boyang9602/tloam/tree/docker Still in progress due to some runtime errors.

Hi,

I am making a docker image for this project https://github.com/boyang9602/TLOAM-docker. I met the same problems as https://github.com/zhoupengwei/tloam/issues/8 and https://github.com/zhoupengwei/tloam/issues/9 and I do not have a solution right now.

Now, all the dependencies are correctly installed—anyone interested please feel free to use and contribute to it. Thank you very much!

boyang9602 commented 2 months ago

I think I found the cause of the building error

TLOAM uses Open3D v0.12 and implemented PointCloud2 which extended from open3d::geometry::Geometry3D. There is a difference of GetOrientedBoundingBox function in Open3D v0.12 and v0.15 for Geometry3D

In v0.12

    /// Returns an oriented bounding box of the geometry.
    virtual OrientedBoundingBox GetOrientedBoundingBox() const = 0;

while in v0.15

    virtual OrientedBoundingBox GetOrientedBoundingBox(
            bool robust = false) const = 0;

So if we use Open3D v0.15+, PointCloud2 will have an un-implemented virtual function.

boyang9602 commented 2 months ago

I made a fix about the compatibility with open3d v0.15 https://github.com/boyang9602/tloam/tree/o3dv0.15

zhoupengwei commented 2 months ago

@boyang9602 Thank you for your attention for my work, these problem have been fixed in the new PR. If you have verified that the provided Docker image works well, please proceed to create a new PR for my project. Thank you for your contribution.

gzyabc commented 1 month ago

@boyang9602 ， @zhoupengwei 。Hello I was able to compile successfully, but I reported a new error while launching the launch file.How can I solve it pic1

gzyabc commented 1 month ago

pic2 I don't know why this is, bu guys can you help me？

boyang9602 commented 1 month ago

Hi @gzyabc , I have the same problem. I do not have a solution right now.

gzyabc commented 1 month ago

@boyang9602 So you just compile, but the code doesn't actually run?

boyang9602 commented 1 month ago

No, it could not run properly. I had the same error messages: https://github.com/zhoupengwei/tloam/pull/13