devel Noetic

[gawela]

Minor adjustments to build and run on Ubuntu 20.04 and ros noetic. Could be maintained on a separate noetic branch to support different system configurations.

[lienharj]

Have you tried running the examples with the noetic build? I build from your branch and tried to launch the examples, but mid way though the bag the program crashes (for both examples).

[hmirh]

Could you run the EVO code in Ubuntu 20.04 and Neotic ROS?

[lienharj]

@hmirh as mentioned above, I was able to start EVO, but I had issues running the examples and couldn't figure out the problem.

[hmirh]

@lienharj But I could not. I got error after running ./rpg_dvs_evo_open/install.sh neotic. I got the following problem:

Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation:

The following packages have unmet dependencies: python-catkin-tools : Depends: python-catkin-pkg (>= 0.2.9) but it is not installable Depends: python-osrf-pycommon but it is not installable E: Unable to correct problems, you have held broken packages. Second, we clone the evo dependencies ./rpg_dvs_evo_open/install.sh: line 24: vcs-import: command not found

[ceinem]

@hmirh That's easy to fix. Just adjust the install.sh script to install: python3-catkin-tools Furthermore install vcstools to fix the second error using: sudo apt install python3-vcstool

[ceinem]

@lienharj I could build everything, but also for me, the examples crash midway through the bag.

[hmirh]

@ceinem I solved that error but I have problem when running:

catkin build dvs_tracking

I got some fails and errors as the following:

Errors << evo_utils:make /home/labuser/catkin_ws/logs/evo_utils/build.make.005.log /home/labuser/catkin_ws/src/rpg_dvs_evo_open/evo_utils/src/camera.cpp: In function ‘void evo_utils📷precomputeRectificationTable(std::vector<cv::Point_ >&, const image_geometry::PinholeCameraModel&)’: /home/labuser/catkin_ws/src/rpg_dvs_evo_open/evo_utils/src/camera.cpp:24:22: error: ‘getOptimalNewCameraMatrix’ is not a member of ‘cv’ 24 | auto K = cv::getOptimalNewCameraMatrix(cam.fullIntrinsicMatrix(), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /home/labuser/catkin_ws/src/rpg_dvs_evo_open/evo_utils/src/camera.cpp:26:13: error: ‘undistortPoints’ is not a member of ‘cv’ 26 | cv::undistortPoints(points, rectified_points, cam.fullIntrinsicMatrix(), | ^~~~~~~~~~~~~~~ make[2]: *** [CMakeFiles/evo_utils.dir/build.make:76: CMakeFiles/evo_utils.dir/src/camera.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:457: CMakeFiles/evo_utils.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 cd /home/labuser/catkin_ws/build/evo_utils; catkin build --get-env evo_utils | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

............................................................................... Failed << evo_utils:make [ Exited with code 2 ] Failed <<< evo_utils [ 28.7 seconds ] Abandoned <<< dvs_bootstrapping [ Unrelated job failed ] Abandoned <<< dvs_reconstruction [ Unrelated job failed ] Abandoned <<< dvs_mapping [ Unrelated job failed ] Abandoned <<< svo_direct [ Unrelated job failed ] Abandoned <<< svo_img_align [ Unrelated job failed ] Abandoned <<< svo_tracker [ Unrelated job failed ] Abandoned <<< svo [ Unrelated job failed ] Abandoned <<< svo_ros [ Unrelated job failed ] Abandoned <<< dvs_tracking [ Unrelated job failed ]

Errors << svo_common:make /home/labuser/catkin_ws/logs/svo_common/build.make.003.log /home/labuser/catkin_ws/src/rpg_dvs_evo_open/svo_common/src/frame.cpp: In member function ‘void svo::Frame::initFrame(const cv::Mat&, svo::size_t)’: /home/labuser/catkin_ws/src/rpg_dvs_evo_open/svo_common/src/frame.cpp:72:35: error: ‘CV_BGR2GRAY’ was not declared in this scope 72 | cv::cvtColor(img, gray_image, CV_BGR2GRAY); | ^~~~~~~~~~~ make[2]: *** [CMakeFiles/svo_common.dir/build.make:63: CMakeFiles/svo_common.dir/src/frame.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:191: CMakeFiles/svo_common.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 cd /home/labuser/catkin_ws/build/svo_common; catkin build --get-env svo_common | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

............................................................................... Failed << svo_common:make [ Exited with code 2 ] Failed <<< svo_common [ 26.3 seconds ] [build] Summary: 24 of 35 packages succeeded. [build] Ignored: 32 packages were skipped or are skiplisted. [build] Warnings: None. [build] Abandoned: 9 packages were abandoned. [build] Failed: 2 packages failed. [build] Runtime: 58.2 seconds total.