egoist-sx / orb_slam_ios Goto Github PK

macOS Mojave

Xcode 10.1

I get some errors when building on the device.

Showing Recent Messages
/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/include/c++/v1/map:818:5: Static_assert failed due to requirement 'is_same<typename allocator_type::value_type, value_type>::value' "Allocator::value_type must be same type as value_type"

ORB_SLAM/Optimizer.cpp:581:43: No viable overloaded operator[] for type 'LoopClosing::KeyFrameAndPose' (aka 'map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<const KeyFrame *, g2o::Sim3> > >')

ORB_SLAM/Optimizer.cpp:582:49: No viable overloaded operator[] for type 'LoopClosing::KeyFrameAndPose' (aka 'map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<const KeyFrame *, g2o::Sim3> > >')

ORB_SLAM/Optimizer.cpp:648:33: No member named 'count' in 'std::__1::map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::__1::less<ORB_SLAM::KeyFrame *>, Eigen::aligned_allocator<std::__1::pair<const ORB_SLAM::KeyFrame *, g2o::Sim3> > >'

ORB_SLAM/Optimizer.cpp:649:39: No viable overloaded operator[] for type 'LoopClosing::KeyFrameAndPose' (aka 'map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<const KeyFrame *, g2o::Sim3> > >')

SLAM/ORB_SLAM/Optimizer.cpp:662:37: No member named 'count' in 'std::__1::map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::__1::less<ORB_SLAM::KeyFrame *>, Eigen::aligned_allocator<std::__1::pair<const ORB_SLAM::KeyFrame *, g2o::Sim3> > >'

SLAM/ORB_SLAM/Optimizer.cpp:663:43: No viable overloaded operator[] for type 'LoopClosing::KeyFrameAndPose' (aka 'map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<const KeyFrame *, g2o::Sim3> > >')

ORB_SLAM/Optimizer.cpp:686:41: No member named 'count' in 'std::__1::map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::__1::less<ORB_SLAM::KeyFrame *>, Eigen::aligned_allocator<std::__1::pair<const ORB_SLAM::KeyFrame *, g2o::Sim3> > >'

SLAM/ORB_SLAM/Optimizer.cpp:687:47: No viable overloaded operator[] for type 'LoopClosing::KeyFrameAndPose' (aka 'map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<const KeyFrame *, g2o::Sim3> > >')

SLAM/ORB_SLAM/Optimizer.cpp:714:45: No member named 'count' in 'std::__1::map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::__1::less<ORB_SLAM::KeyFrame *>, Eigen::aligned_allocator<std::__1::pair<const ORB_SLAM::KeyFrame *, g2o::Sim3> > >'

SLAM/ORB_SLAM/Optimizer.cpp:715:51: No viable overloaded operator[] for type 'LoopClosing::KeyFrameAndPose' (aka 'map<ORB_SLAM::KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<const KeyFrame *, g2o::Sim3> > >')

You can use this file as .gitignore for iOS projects.

https://github.com/github/gitignore/blob/master/Global/Xcode.gitignore

Hello, have you encountered this problem? How to solve this
I am ios13 version, tested on iPhone6s

Message from debugger: Terminated due to memory issue
CGImageCreate: invalid image alphaInfo: KCGImageAlphaNone. It should be KCGImageAlphaNoneSkipLast.

About 1 minute after the camera data stream is acquired, the program crashes and the memory overflows

I unzip the dependency file to the root folder, and the ORBVoc.txt on the right place; but this is a error:ofMain.h' file not found

libg2o.a is missed in dependency folder

I tried using the save functions in DBoW2 to save the mapping data collected while the app was running, but I ran into issues with all 3 save functions.

The end goal is to save my mapping data and the 3d object orientation and position such that I can load it at a future time and eliminate the need to remap the same space every time the app loads.

This should be possible to implement right?

the std::of stream based methods in TemplatedVocabulary didn't work and i also tried something like the code below to write to an existing file below but it would never open it even though the obj-c code could open it fine.

     path = [[[NSBundle mainBundle]pathForResource:@"savedvoc" ofType:@"txt"] cStringUsingEncoding:[NSString defaultCStringEncoding]];
        std::of stream file

        file.open(path, std::ios::out | std::ios::app );
        if (file.is_open()) {
            file << "some text\n";
            file.close();

            std::if stream rf

            rf.open(path, std::ios::in );

            char str[255];
            while(rf) {
                rf.getline(str, 255);

                if(rf) printf("%s", str);

            }

            rf.close();

        }else {

```;


additionally i tried using cv::file storage which could find the file but it never actually wrote anything to file.

cv::FileStorage testfile(path, cv::FileStorage::WRITE);
_Tracker->mpORBVocabulary->save(testfile); //i made the mpORBVocabulary var public as a quick way to access the variable

i even called Size() on the mpORBVocabulary var to make sure there was content to write in the first place. 

ORB-SLAM is licensed under GPLv3, so in order to redistribute it you have to do it under the terms of that license. You cannot remove the original copyright and GPL terms and you have to explicitly state that this is a modified version. Moreover your whole project has to be licensed under GPLv3.
See https://github.com/raulmur/ORB_SLAM/blob/master/License-gpl.txt

Please do the appropriate modifications to your repository.

I tried to built the project but the "libMobileGestalt MobileGestaltSupport.m:153: pid 279 (SLAM) does not have sandbox access for XXXXXXXXX and IS NOT appropriately entitled" error showed

Very impressive. I am not sure what kind of backend ORB_SLAM uses (BA or g2o?) Is the back end optimization also running on iOS device?

After downloading dependencies and click XCode Run button I get this error
ORB_SLAM_iOS-master/SLAM/ORB_SLAM/KeyFrameDatabase.hpp:20:9: 'boost/thread.hpp' file not found

Would you please help me how to solve it?
(I'm new to iOS programming)

Thanks

Hi~ , I don't understand the below code in ViewController+InfoDisplay.mm

Mat center = -R.t()*T;
[self addPose:SCNVector3Make(-center.at(0), center.at(1), center.at(2))];

(-R.t()*T; and the minus sign in -center.at(0) )
I will be grateful if you can help me understand ~
@egoist-sx

Thank you for the great job!
It seems v2 of orb_slam get a better performance. And also it removes the ros dependancy.
Can you port a v2 version of orb_slam to iOS? Thanks

First of all, thank you very much for your contribution on Github. I downloaded ORB_SLAM_iOS.
The project can not run and there is a problem: 'Structure/Structure.h' file not found. I really want to run this project successfully.Could you fix the missing files?
Looking forward to your help . Thank you very much.

Multiple commands produce '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt':

1. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/DBoW2/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
2. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
3. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
4. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/core/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
5. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/solvers/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
6. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/solvers/cholmod/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
7. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/solvers/dense/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
8. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/stuff/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
9. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/types/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
10. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/types/sba/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
11. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/types/sim3/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'
12. Target 'orbslamios' (project 'orbslamios') has copy command from '/Users/akshatbajpai/Downloads/ORB_SLAM-IOS-master/orbslamios/ORB_SLAM/Thirdparty/g2o/g2o/types/slam3d/CMakeLists.txt' to '/Users/akshatbajpai/Library/Developer/Xcode/DerivedData/orbslamios-ejeftygkwmlxkyglylcunlaicbea/Build/Products/Debug-iphoneos/orbslamios.app/CMakeLists.txt'

This project always lacks some files. I have sent an email to you.I hope you can keep in touch with me.
thanks

I test the app in iPhone7+, and the FPS is only in 6-10. Is there anything I did wrong?