alejandrosilvestri / osmap-viewer Goto Github PK

Hello,

Sorry in advance because this is probably a naive question, but how to compile this package? I am very confused as I see no instructions at all, and no makefile.

I tried for example with g++, which returns several compilation errors, such as:
src/main.cpp: In function ‘int main(int, char**)’: src/main.cpp:34:11: error: no matching function for call to ‘ORB_SLAM2::System::System()’ 34 | System system; | ^~~~~~ In file included from include/Osmap.h:45, from src/main.cpp:15: include/System.h:62:5: note: candidate: ‘ORB_SLAM2::System::System(const string&, const string&, ORB_SLAM2::System::eSensor, bool)’ 62 | System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true); | ^~~~~~ include/System.h:62:5: note: candidate expects 4 arguments, 0 provided src/main.cpp:36:36: error: no matching function for call to ‘ORB_SLAM2::KeyFrameDatabase::KeyFrameDatabase()’ 36 | system.mpKeyFrameDatabase = new KeyFrameDatabase; | ^~~~~~~~~~~~~~~~ In file included from include/KeyFrame.h:30, from include/Osmap.h:42, from src/main.cpp:15: include/KeyFrameDatabase.h:46:5: note: candidate: ‘ORB_SLAM2::KeyFrameDatabase::KeyFrameDatabase(const ORBVocabulary&)’ 46 | KeyFrameDatabase(const ORBVocabulary &voc); | ^~~~~~~~~~~~~~~~ include/KeyFrameDatabase.h:46:5: note: candidate expects 1 argument, 0 prov

(Please note that I already installed ORB_SLAM2, and it works fine)

Could you please provide some minimal instructions on how to compile this code? Thank you!

Hi,

My setup:

--> Ubuntu 20.04
--> OpenCV 3.2.0 installed from source with contrib modules
--> ORB-SLAM2 with Osmap integrated and working

I am a bit confused on how to install Osmap-viewer.
As far as I understood, it is needed to copy the files:

--> include/Osmap.h
--> src/Osmap.cpp

and overwrite the previous ones copied when installing osmap.

Howerver, when doing so, I try to compile with and

In file included from /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:15: /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:60:21: error: expected ‘)’ before ‘*’ token 60 | OsmapMapPoint(Osmap*); | ~ ^ | ) /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:70:21: error: expected ‘)’ before ‘*’ token 70 | OsmapKeyFrame(Osmap*); | ~ ^ | ) /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:25:14: error: conflicting declaration ‘unsigned int ORB_SLAM2::MapPoint::nNextId’ 25 | unsigned int MapPoint::nNextId = 0; | ^~~~~~~~ In file included from /home/arevo/Dev/ORB_SLAM2_osmap/include/KeyFrame.h:24, from /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:42, from /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:15: /home/arevo/Dev/ORB_SLAM2_osmap/include/MapPoint.h:86:30: note: previous declaration as ‘long unsigned int ORB_SLAM2::MapPoint::nNextId’ 86 | static long unsigned int nNextId; | ^~~~~~~ /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:26:14: error: conflicting declaration ‘unsigned int ORB_SLAM2::KeyFrame::nNextId’ 26 | unsigned int KeyFrame::nNextId = 0; | ^~~~~~~~ In file included from /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:42, from /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:15: /home/arevo/Dev/ORB_SLAM2_osmap/include/KeyFrame.h:123:30: note: previous declaration as ‘long unsigned int ORB_SLAM2::KeyFrame::nNextId’ 123 | static long unsigned int nNextId; | ^~~~~~~ /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp: In function ‘int main(int, char**)’: /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:34:11: error: no matching function for call to ‘ORB_SLAM2::System::System()’ 34 | System system; | ^~~~~~ In file included from /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:45, from /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:15: /home/arevo/Dev/ORB_SLAM2_osmap/include/System.h:63:5: note: candidate: ‘ORB_SLAM2::System::System(const string&, const string&, ORB_SLAM2::System::eSensor, bool)’ 63 | System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true); | ^~~~~~ /home/arevo/Dev/ORB_SLAM2_osmap/include/System.h:63:5: note: candidate expects 4 arguments, 0 provided /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:36:36: error: no matching function for call to ‘ORB_SLAM2::KeyFrameDatabase::KeyFrameDatabase()’ 36 | system.mpKeyFrameDatabase = new KeyFrameDatabase; | ^~~~~~~~~~~~~~~~ In file included from /home/arevo/Dev/ORB_SLAM2_osmap/include/KeyFrame.h:30, from /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:42, from /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:15: /home/arevo/Dev/ORB_SLAM2_osmap/include/KeyFrameDatabase.h:46:5: note: candidate: ‘ORB_SLAM2::KeyFrameDatabase::KeyFrameDatabase(const ORBVocabulary&)’ 46 | KeyFrameDatabase(const ORBVocabulary &voc); | ^~~~~~~~~~~~~~~~ /home/arevo/Dev/ORB_SLAM2_osmap/include/KeyFrameDatabase.h:46:5: note: candidate expects 1 argument, 0 provided /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:59:33: error: ‘std::set<ORB_SLAM2::MapPoint*> ORB_SLAM2::Map::mspMapPoints’ is protected within this context 59 | for(auto pMP : system.mpMap->mspMapPoints) | ^~~~~~~~~~~~ In file included from /home/arevo/Dev/ORB_SLAM2_osmap/include/MapPoint.h:26, from /home/arevo/Dev/ORB_SLAM2_osmap/include/KeyFrame.h:24, from /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:42, from /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:15: /home/arevo/Dev/ORB_SLAM2_osmap/include/Map.h:70:25: note: declared protected here 70 | std::set<MapPoint*> mspMapPoints; | ^~~~~~~~~~~~ /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:60:41: error: ‘cv::Mat ORB_SLAM2::MapPoint::mWorldPos’ is protected within this context 60 | mapPointsCloud.push_back(Vec3f(pMP->mWorldPos)); | ^~~~~~~~~ In file included from /home/arevo/Dev/ORB_SLAM2_osmap/include/KeyFrame.h:24, from /home/arevo/Dev/ORB_SLAM2_osmap/include/Osmap.h:42, from /home/arevo/Dev/ORB_SLAM2_osmap/Examples/Monocular/osmap-viewer.cpp:15: /home/arevo/Dev/ORB_SLAM2_osmap/include/MapPoint.h:118:14: note: declared protected here 118 | cv::Mat mWorldPos; | ^~~~~~~~~ make[2]: *** [CMakeFiles/osmap-viewer.dir/build.make:63: CMakeFiles/osmap-viewer.dir/Examples/Monocular/osmap-viewer.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:198: CMakeFiles/osmap-viewer.dir/all] Error 2 make: *** [Makefile:84: all] Error 2

Hi,
I would like to export the point-cloud only, directly from ORB-SLAM2 or out of the exported map bin file. Is there a simple approach to do that?
Thank you!
Shiran