ORB-SLAM2_RGBD_DENSE_MAP
ORB-SLAM2_RGBD_DENSE_MAP copied to clipboard
xiaobainixi
This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.
Depth Threshold (Close/Far Points): 3.09294 New map created with 890 points receive a keyframe, id = 33 第1个 [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! show global...
运行时程序会卡死
正常编译完成之后运行程序就会卡死，而且进程占内存99.9%，我的电脑内存是62.8GiB也不能运行这个程序吗？之前我向ORB-SLAM中加了PCL点云的显示，之后也是程序卡死。。。请问有什么解决办法？
CMake Error at /usr/share/cmake-3.10/Modules/CMakeFindDependencyMacro.cmake:48 (find_package): Found package configuration file: /home/jiqiang/anaconda3/lib/cmake/Qt5WebKit/Qt5WebKitConfig.cmake but it set Qt5WebKit_FOUND to FALSE so package "Qt5WebKit" is considered to be NOT FOUND. Reason given by package: Qt5WebKit...
/usr/bin/ld: warning: libboost_system.so.1.65.1, needed by /opt/ros/melodic/lib/libroscpp.so, may conflict with libboost_system.so.1.58.0 /usr/bin/ld: warning: libboost_filesystem.so.1.65.1, needed by /opt/ros/melodic/lib/libroscpp.so, may conflict with libboost_filesystem.so.1.58.0 CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: In function `main': ros_rgbd.cc:(.text.startup+0xd2f): undefined reference to `PointCloudMapping::getGlobalMap()' collect2:...
ros下运行ros_rgbd提示[pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
我使用仿真环境构建了一个机器人，将深度摄像头的数据通过/camera/rgb/image_raw和/camera/depth/image_raw两个话题发布出来，在ros_rgbd.cc里面修改订阅话题，然后编译运行，能够成功运行但是没有点云数据，终端提示如下 Depth Threshold (Close/Far Points): 3.02492 New map created with 1006 points Track lost soon after initialisation, reseting... System Reseting Reseting Local Mapper... done Reseting Loop Closing... done Reseting Database......
mono_tum example use "SLAM.Shutdown()" twice, so when the program terminaled it coredump. errorinfo: terminate called after throwing an instance of 'std::system_error' what(): Invalid argument Aborted (core dumped)
The code can be compiled with no errors but when running the code, it will only last for 1 or 2 frames then stopped by a segmentation fault (core dumped)....
Metadata
Owner
Metadata
This repository is modified from Xiang Gao's "ORB_SLAM2_modified".It is added a dense loopclosing map model.