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Dense S-PTAM

License: GNU General Public License v3.0

CMake 0.65% Shell 0.29% Python 4.67% C++ 90.15% MATLAB 1.02% C 3.04% Dockerfile 0.18%

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adalessandro sprann9257 matthiasroland labimage vcmman bcworkaccount doctorwk007 slam-in-ros simonsroad tianfayao beatscherrer nakajimakou1 zb353027 oxidation99 luoming2 zbqq gitzhaoo

dense-sptam's Issues

No /dense/dense-map published

I am trying to run the dense-sptam to create a dense local map with your docker.sh script.

./docker.sh run
cd /usr/src/dense-sptam
source devel/setup.bash

Then I run the dense-ptam as follows:

roslaunch dense kitti.launch & rosbag play kitti.bag

as you propose in your README file. I then cannot run rviz inside the docker container. It gives me the following error:

[ INFO] [1562584563.967351185]: rviz version 1.12.17
[ INFO] [1562584563.967409455]: compiled against Qt version 5.5.1
[ INFO] [1562584563.967424945]: compiled against OGRE version 1.9.0 (Ghadamon)
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Could not initialize OpenGL for RasterGLSurface, reverting to RasterSurface.
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
Segmentation fault (core dumped)

When running rviz outside of the docker container the sparse point clouds are visible but the /dense/dense-cloud is not visible such as no messages come in when trying to echo them with rostopic echo /dense/dense-cloud/

Further the output directory is not mounted in the docker.sh file, which would be a good idea since it is the default output. Also no data is written to the the directory /dense/output_dir/ which i made sure exists.

I use ros melodic and ubuntu 18.04 on my host system. But the message should be published nevertheless since it runs inside the docker container.

Error while launching kitti.launch

I followed the instructions properly to install all the dependencies and I built it successfully using catkin_make inside a catkin workspace. But I am getting this strange Eigen error while running kitti.launch file against kitti_04.bag file -----------

[ INFO] [1561028434.806107483, 1385799339.734153456]: S-PTAM stereo node initialized. [ INFO] [1561028434.942196212, 1385799339.864982461]: DENSE node initialized. [ INFO] [1561028435.254461691, 1385799340.183758361]: init calib [ INFO] [1561028435.254682849, 1385799340.183758361]: baseline: 0.537151 [ INFO] [1561028435.269423387, 1385799340.183758361]: Trying to intialize map... [ INFO] [1561028435.286068723, 1385799340.183758361]: Map initialized with 149 points. nodelet: /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:838: Eigen::internal::block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, true>::block_evaluator(const XprType&) [with ArgType = const Eigen::Matrix<double, 4, 1>; int BlockRows = 4; int BlockCols = 1; bool InnerPanel = true; Eigen::internal::block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, true>::XprType = Eigen::Block<const Eigen::Matrix<double, 4, 1>, 4, 1, true>]: Assertion ((size_t(block.data()) % (((int)1 >= (int)evaluator<XprType>::Alignment) ? (int)1 : (int)evaluator<XprType>::Alignment)) == 0) && "data is not aligned"' failed.

Can you please help me? Thanks in advance. @taihup

how to use the docker images

hi, i meet some question,
what is the mean of the note " You need to have a proper SSH agent with SSH_AUTH_SOCK environment variable set",and i do not know how to use the docker to get the enviroment ,can you tell me more details ?

euroc dataset does not run

The euroc dataset provided by the official provider https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets does not run straight away.

After some time investigating the issue I found that no camera_info are published and thus no images are provided.

I am trying to add a helper node which listens to the camera images messages and publishes on the camera_info topic with the same timestamp since most of the time the camera configuration is constant over time. Maybe an option to set the camera configuration once would be useful.

After all thanks for sharing your well written work.

not enough points for tracking

when i launch the kitti.launch and the kitti_04.bag which i download from the sptam project, i meet this　warning , and then i have no output result in ~/.ros/clouds

Error after playing the rosbag file

Hi,
I run the dense-ptam in docker container. However, after playing the bag file, I see the following error even if I created "clouds" folder in the ~/.ros directory.

about the docker run

hi , when i run the " sudo ./docker run",it occur to me the mistake "invalid value ":/ssh-agent" for flag -v: bad format for path: :/ssh-agent",what can i do to solve it?
thank u!

No data on topic /dense/dense_cloud

Although the program creates the .pcd files in the /root/.ros/clouds directory, there is no data on the ROS Topic "/dense/dense_cloud". Neither "rostopic echo /dense/dense_cloud" nor Rviz show any data on that topic. Could you please help resolve this issue. Thank you !

clone and build error

When I run the command git clone [email protected]:lrse/ros-utils.git I get the error [email protected]: Permission denied (publickey). fatal: Could not read from remote repository.. Then I used: git clone https://github.com/lrse/ros-utils.git. After that, the same error ocurred with git clone [email protected]:cifasis/sptam.git, then I did git clone https://github.com/lrse/sptam . git checkout origin/adalessandro/dense-sptam -b adalessandro/dense-sptam did not work. And finally, ignoring the last error and running sudo catkin build --cmake-args \ -DSHOW_TRACKED_FRAMES=OFF -DSHOW_PROFILING=OFF -DCMAKE_BUILD_TYPE=Release -DUSE_LOOPCLOSURE=OFF gives me the message:

--------------------------------------------------------------------------------
Profile:                     default
Extending:                   None
Workspace:                   /home/adriel/catkin
--------------------------------------------------------------------------------
Build Space:        [exists] /home/adriel/catkin/build
Devel Space:        [exists] /home/adriel/catkin/devel
Install Space:      [unused] /home/adriel/catkin/install
Log Space:          [exists] /home/adriel/catkin/logs
Source Space:       [exists] /home/adriel/catkin/src
DESTDIR:            [unused] None
--------------------------------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------------------------------
Additional CMake Args:       -DSHOW_TRACKED_FRAMES=OFF -DSHOW_PROFILING=OFF -DCMAKE_BUILD_TYPE=Release -DUSE_LOOPCLOSURE=OFF
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------------------------------


--------------------------------------------------------------------------------
WARNING: Your workspace is not extending any other result space, but it is set
to use a `linked` devel space layout. This requires the `catkin` CMake package
in your source space in order to be built.
--------------------------------------------------------------------------------

[build] Found '2' packages in 0.0 seconds.                                     
[build] Package table is up to date.                                           
Warning: generated devel space setup files have been deleted.
Starting  >>> catkin_tools_prebuild                                            
_______________________________________________________________________________
Errors     << catkin_tools_prebuild:cmake /home/adriel/catkin/logs/catkin_tools_prebuild/build.cmake.007.log
CMake Error at /home/adriel/catkin/build/catkin_tools_prebuild/CMakeLists.txt:12 (message):
  The catkin CMake module was not found, but it is required to build a linked
  workspace.  To resolve this, please do one of the following, and try
  building again.



   1. Source the setup.sh file from an existing catkin workspace:
      source SETUP_FILE



   2. Extend another catkin workspace's result (install or devel) space:
      catkin config --extend RESULT_SPACE



   3. Set `catkin_DIR` to the directory containing `catkin-config.cmake`:
      catkin config --cmake-args -Dcatkin_DIR=CATKIN_CMAKE_CONFIG_PATH



   4. Add the catkin source package to your workspace's source space:
      cd SOURCE_SPACE && git clone https://github.com/ros/catkin.git


cd /home/adriel/catkin/build/catkin_tools_prebuild; catkin build --get-env catkin_tools_prebuild | catkin env -si  /usr/bin/cmake /home/adriel/catkin/build/catkin_tools_prebuild --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/adriel/catkin/devel/.private/catkin_tools_prebuild -DCMAKE_INSTALL_PREFIX=/home/adriel/catkin/install -DSHOW_TRACKED_FRAMES=OFF -DSHOW_PROFILING=OFF -DCMAKE_BUILD_TYPE=Release -DUSE_LOOPCLOSURE=OFF; cd -
...............................................................................
Failed     << catkin_tools_prebuild:cmake          [ Exited with code 1 ]      
Failed    <<< catkin_tools_prebuild                [ 0.0 seconds ]             
Abandoned <<< dense                                [ Unrelated job failed ]    
Abandoned <<< ros_utils                            [ Unrelated job failed ]    
[build] Summary: 0 of 3 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: 2 packages were abandoned.                                
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 0.0 seconds total.

NOTE: I am using ROS melodic.

cifasis / dense-sptam Goto Github PK

dense-sptam's People

Contributors

Stargazers

Watchers

Forkers

dense-sptam's Issues

No /dense/dense-map published

Error while launching kitti.launch

how to use the docker images

euroc dataset does not run

not enough points for tracking

Error after playing the rosbag file

about the docker run

No data on topic /dense/dense_cloud

clone and build error

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