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Error in compiling dvo_core
I'm trying to compile dvo_slam on my machine: Ubuntu 12.04.5 / ros fuerte. The compilation terminates when dvo_core is compiled.
In summary, I notice that there is an error relating to conversion between different data types.
In dense_tracking.cpp, line 263 causes the compilation error:
Eigen::Affine3f transformf;
transformf = estimate().matrix().cast
I'm thinking about passing data from estimate().matrix() to transformf manually. However I guess there should be a better way to handle the issue.
Below is the error message:
{-------------------------------------------------------------------------------
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp: In instantiation of ‘Eigen::Matrix<typename Eigen::internal::traits<T>::Scalar, 3, 3> Sophus::SE3GroupBase<Derived>::rotationMatrix() const [with Derived = Sophus::SE3Group/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build' make[2]: *** [CMakeFiles/dvo_core.dir/all] Error 2 make[2]: Leaving directory/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_core written to:
[ rosmake ] /home/panda/.ros/rosmake/rosmake_output-20161004-150237/dvo_core/build_output.log
[rosmake-0] Finished <<< dvo_core [FAIL] [ 8.61 seconds ]
[ rosmake ] Halting due to failure in package dvo_core.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 40 packages with 1 failures.
[ rosmake ] Summary output to directory
Hi,
A few months ago I attempted to compile DVO_SLAM on Linux Mint (Linux distro based on Ubuntu). The forked repository and step-by-step instructions for compilation are here: https://github.com/songuke/dvo_slam
You might want to give it try. It uses catkin to build, which seems to avoid many issues caused by rosmake.
Cheers.
Hi,
Thanks for your help.
It doesn't work for me yet. I keep having trouble with type conversion between Sophus matrix and eigen::affine3f.
Which Eigen version did you use to compile the package? I notice that when I change the Eigen version, sometimes Sophus cannot be compiled.
Le
On Tue, Oct 4, 2016 at 10:48 PM, songuke [email protected] wrote:
Hi,
A few months ago I attempted to compile DVO on Linux Mint (Linux distro based on Ubuntu). The step-by-step instructions for compilations are here: https://github.com/songuke/dvo_slam
You might want to give it try. It uses catkin to build, which seems to avoid many issues caused by rosmake.
Cheers.
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-251568932, or mute the thread https://github.com/notifications/unsubscribe-auth/AOXj5OX1Pu8Dd7dihj4n4Gj1K_IZQX3zks5qwxAPgaJpZM4KODT5 .
Hi Le,
In the README.md on my repository, I did note:
"If your system has Eigen >= 3.3, don't use it with g2o. The old version of g2o is only compatible to Eigen 3.2.8..."
You might want to try that.
2016-10-10 7:27 GMT+07:00 ple13 [email protected]:
Hi,
Thanks for your help.
It doesn't work for me yet. I keep having trouble with type conversion between Sophus matrix and eigen::affine3f.
Which Eigen version did you use to compile the package? I notice that when I change the Eigen version, sometimes Sophus cannot be compiled.
Le
On Tue, Oct 4, 2016 at 10:48 PM, songuke [email protected] wrote:
Hi,
A few months ago I attempted to compile DVO on Linux Mint (Linux distro based on Ubuntu). The step-by-step instructions for compilations are here: https://github.com/songuke/dvo_slam
You might want to give it try. It uses catkin to build, which seems to avoid many issues caused by rosmake.
Cheers.
— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHub <https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-251568932 , or mute the thread <https://github.com/notifications/unsubscribe-auth/ AOXj5OX1Pu8Dd7dihj4n4Gj1K_IZQX3zks5qwxAPgaJpZM4KODT5> .
— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-252523390, or mute the thread https://github.com/notifications/unsubscribe-auth/AAIXslOrgU8TErFq8UeLZmVmh6zl97SFks5qyYZfgaJpZM4KODT5 .
@ple13 : Have you solved the issue?, I got the identical problem. @songuke : I already tried your dvo_slam from: https://github.com/songuke/dvo_slam. I've checked my eigen version and it is 3.2.0. Do you have any idea why the Eigen conversion seems not working?
My OS is Ubuntu 14.04 with ROS Indigo.
I tried to check the installed eigen:
ubuntu@ubuntu:~/dvo_slam$ dpkg --get-selections | grep eigen libeigen3-dev install ros-indigo-eigen-conversions install ros-indigo-eigen-stl-containers install
ros indigo has its own conversion package, will the multiple packages be the possible issue?
Hi,
Thank you Songuke!!
I finally compiled the code successfully.
I guess that the Eigen type conversion errors that kept popping out was due to the compiler I used (g++-4.7/4.8.4.9/5). It compiled the Sophus package without any problems, however, when Sophus was used in dvo_slam, the compiler complainted. I checked the error messages, then modified the file so3.hpp in Sophus, and it worked.
In short, I changed these lines in /usr/local/include/Sophus/so3.hpp, starting from line 89:
/** \brief scalar type / using Scalar = typename Eigen::internal::traits<Derived>::Scalar; /* \brief quaternion reference type / using QuaternionReference = typename Eigen::internal::traits<Derived>::QuaternionType&; /* \brief quaternion const reference type */ using ConstQuaternionReference = typename Eigen::internal::traits<Derived>::QuaternionType const&;
into
/** \brief scalar type / typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /* \brief quaternion reference type / typedef typename Eigen::internal::traits<Derived>::QuaternionType& QuaternionReference; /* \brief quaternion const reference type */ typedef typename Eigen::internal::traits<Derived>::QuaternionType const& ConstQuaternionReference;
After this small change, I could compiled the package with g++.
@mrksst: when I installed Eigen, I used cmake .. -DCMAKE_INSTALL_PREFIX=/usr . This was to avoid the situation of having multiple eigens in the system. Before doing that, I deleted all eigen3 in /usr/include and /usr/local/include, then restalled it using the above option. I hope that it works for you too.
Le, Phi Hung
On Tue, Oct 11, 2016 at 11:33 AM, mrkstt [email protected] wrote:
I tried to check the installed eigen:
ubuntu@ubuntu:~/dvo_slam$ dpkg --get-selections | grep eigen libeigen3-dev install ros-indigo-eigen-conversions install ros-indigo-eigen-stl-containers install
ros indigo has its own conversion package, will the multiple packages be the possible issue?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-252953541, or mute the thread https://github.com/notifications/unsubscribe-auth/AOXj5PVH1DtIinUlKHMIdqJi7jtf6dR7ks5qy6xkgaJpZM4KODT5 .
Hi Le @ple13, Sounds great you have solved the issue. I followed the code modification above and the error disappeared. I also re-installed the eigen as you suggested (my Eigen version is 3.2.8). However, I got this following error now:
ubuntu@ubuntu:~/dvo_slam$ catkin_make -DCMAKE_BUILD_TYPE=ReleaseBase path: /home/ubuntu/dvo_slam Source space: /home/ubuntu/dvo_slam/src Build space: /home/ubuntu/dvo_slam/build Devel space: /home/ubuntu/dvo_slam/devel Install space: /home/ubuntu/dvo_slam/install
Running command: "make cmake_check_build_system" in "/home/ubuntu/dvo_slam/build"
Running command: "make -j8 -l8" in "/home/ubuntu/dvo_slam/build"
[ 7%] [ 7%] Built target dvo_slam_gencfg Built target dvo_ros_gencfg [ 10%] Building CXX object dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o In file included from /usr/local/include/sophus/sophus.hpp:31:0, from /usr/local/include/sophus/so3.hpp:27, from /usr/local/include/sophus/se3.hpp:27, from /home/ubuntu/dvo_slam/src/dvo_core/src/dense_tracking.cpp:27: /usr/local/include/sophus/ensure.hpp:60:1: error: ‘EIGEN_DEVICE_FUNC’ does not name a type EIGEN_DEVICE_FUNC inline void defaultEnsure(const char* function, ^ /usr/local/include/sophus/so3.hpp: In member function ‘void Sophus::SO3GroupBase<Derived>::normalize()’: /usr/local/include/sophus/so3.hpp:221:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(length >= SophusConstants<Scalar>::epsilon(), ^ /usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase<Derived>::Transformation Sophus::SO3GroupBase<Derived>::generator(int)’: /usr/local/include/sophus/so3.hpp:431:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(i >= 0 && i <= 2, "i should be in range [0,2]."); ^ /usr/local/include/sophus/so3.hpp: In static member function ‘static void Sophus::SO3GroupBase<Derived>::internalGenerator(int, Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar>)’: /usr/local/include/sophus/so3.hpp:445:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(i >= 0 && i <= 2, "i should be in range [0,2]"); ^ /usr/local/include/sophus/so3.hpp:446:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(internal_gen_q != NULL, ^ /usr/local/include/sophus/so3.hpp: In static member function ‘static Sophus::SO3GroupBase<Derived>::Tangent Sophus::SO3GroupBase<Derived>::logAndTheta(const Sophus::SO3Group<typename Eigen::internal::traits<T>::Scalar>&, Sophus::SO3GroupBase<Derived>::Scalar)’: /usr/local/include/sophus/so3.hpp:551:7: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(abs(w) >= SophusConstants<Scalar>::epsilon(), ^ /usr/local/include/sophus/se3.hpp: In static member function ‘static Sophus::SE3GroupBase<Derived>::Transformation Sophus::SE3GroupBase<Derived>::generator(int)’: /usr/local/include/sophus/se3.hpp:503:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(i >= 0 && i <= 5, "i should be in range [0,5]."); ^ /usr/local/include/sophus/se3.hpp: In static member function ‘static void Sophus::SE3GroupBase<Derived>::internalGenerator(int, Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar>, Eigen::Matrix<typename Eigen::internal::traits<T>::Scalar, 3, 1>)’: /usr/local/include/sophus/se3.hpp:519:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(i >= 0 && i <= 5, "i should be in range [0,5]"); ^ /usr/local/include/sophus/se3.hpp:520:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(internal_gen_q != NULL, ^ /usr/local/include/sophus/se3.hpp:522:5: error: ‘defaultEnsure’ is not a member of ‘Sophus’ SOPHUS_ENSURE(internal_gen_t != NULL, ^ make[2]: *** [dvo_core/CMakeFiles/dvo_core.dir/src/dense_tracking.cpp.o] Error 1 make[1]: *** [dvo_core/CMakeFiles/dvo_core.dir/all] Error 2 make: *** [all] Error 2 Invoking "make -j8 -l8" failed
Seems "EIGEN_DEVICE_FUNC" and "defaultEnsure" are not recognized. Any idea?, really thanks for suggestion.
Hi @ple13 @songuke,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinet_validation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFine: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeightThreshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692 ...
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt [email protected]:
Hi @ple13 https://github.com/ple13 @songuke https://github.com/songuke ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinet_validation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFine: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeightThreshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-253434903, or mute the thread https://github.com/notifications/unsubscribe-auth/AAIXsgpqjdzA8UDaf_hP89eCUdAOMW5uks5qzdv3gaJpZM4KODT5 .
Hi,
When I tried to run the program, it kept asking for the file assoc.txt however this file is not provided with the dataset. Am I suppose to sync the depth and rgb to produce this file myself?
Le, Phi Hung
On Thu, Oct 13, 2016 at 4:32 AM, songuke [email protected] wrote:
Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt [email protected]:
Hi @ple13 https://github.com/ple13 @songuke < https://github.com/songuke> ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinet_validation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] }
ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level
1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFi ne: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeight Threshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <https://github.com/tum-vision/dvo_slam/issues/50#issuecomment-253434903 , or mute the thread <https://github.com/notifications/unsubscribe-auth/AAIXsgpqjdzA8UDaf_ hP89eCUdAOMW5uks5qzdv3gaJpZM4KODT5> .
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assoc.txt can be generated with this Python script: http://vision.in.tum.de/data/datasets/rgbd-dataset/tools
Another hint to check if the program is working is to monitor trajectory.txt. This file should be changing if DVO is doing the calculation.
2016-10-14 1:20 GMT+07:00 ple13 [email protected]:
Hi,
When I tried to run the program, it kept asking for the file assoc.txt however this file is not provided with the dataset. Am I suppose to sync the depth and rgb to produce this file myself?
Le, Phi Hung
On Thu, Oct 13, 2016 at 4:32 AM, songuke [email protected] wrote:
Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt [email protected]:
Hi @ple13 https://github.com/ple13 @songuke < https://github.com/songuke> ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinet_validation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last
Level
1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFi ne: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeight Threshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <https://github.com/tum-vision/dvo_slam/issues/50# issuecomment-253434903 , or mute the thread <https://github.com/notifications/unsubscribe-auth/AAIXsgpqjdzA8UDaf_ hP89eCUdAOMW5uks5qzdv3gaJpZM4KODT5> .
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Thanks.
It works for me.
Le, Phi Hung
On Thu, Oct 13, 2016 at 3:17 PM, songuke [email protected] wrote:
assoc.txt can be generated with this Python script: http://vision.in.tum.de/data/datasets/rgbd-dataset/tools
Another hint to check if the program is working is to monitor trajectory.txt. This file should be changing if DVO is doing the calculation.
2016-10-14 1:20 GMT+07:00 ple13 [email protected]:
Hi,
When I tried to run the program, it kept asking for the file assoc.txt however this file is not provided with the dataset. Am I suppose to sync the depth and rgb to produce this file myself?
Le, Phi Hung
On Thu, Oct 13, 2016 at 4:32 AM, songuke [email protected] wrote:
Hi guys,
Thanks for all the suggestions to fix the issues.
My previous experience with rviz is that it does take a while for the result to appear. Please also make sure the code is compiled in Release mode.
2016-10-13 14:21 GMT+07:00 mrkstt [email protected]:
Hi @ple13 https://github.com/ple13 @songuke < https://github.com/songuke> ,
I solved the error above by commenting all "SOPHUS_ENSURE", seems it's just for checking.
Then, I run:
roslaunch launch/benchmark.launch dataset:=/home/ubuntu/dataset/ rgbd_dataset_freiburg3_cabinet_validation
Output: ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last
Level
1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFi ne: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeight Threshold: 0.1" } ros.dvo_slam: { adding 0 new constraints } ros.dvo_slam: { adding 1 new constraints } ros.dvo_slam: { adding 2 new constraints } ros.dvo_slam: { adding 3 new constraints } ros.dvo_slam: { adding 4 new constraints } ros.dvo_slam: { adding 5 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 6 new constraints } new_kf: 0.0979787 ros.dvo_slam: { adding 6 new constraints } ros.dvo_slam: { adding 9 new constraints } ros.dvo_slam: { adding 11 new constraints } ros.dvo_slam: { adding 7 new constraints } ros.dvo_slam: { adding 8 new constraints } ros.dvo_slam: { adding 9 new constraints } match: 0.0492692
The only thing unsolved is I cannot see any result (empty) by running:
rosrun rviz rviz
Any idea?
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