raluca-scona / staticfusion Goto Github PK

In Pangolin a typo has been fixed which makes your program not compile any more if one uses the latest version. In Utils/GUI.h the function pangolin::glDrawFrustrum is called which is now named pangolin::glDrawFrustum

see stevenlovegrove/Pangolin#347

I have successfuly built this project. But I found a problem. When I run StaticFusion-Datasets, it may sometimes run successfully and may report an error. The error message is as follows.

segmentation fault (core dumped)

Can you help me fit this problem? Thank you very much.

I am trying to run static fusion with the kinect2. When I run the code I get the terminal output "The RGB and the depth frames don't have the same size" and "Eigensolver couldn't find a solution. Pose is not updated" due to the difference in depth frame and rbg frame sizes on Kinect2. Any idea how I can edit the code to fix this?

Hi

I see that the term c^2/2 of the Cauchy robust penalty is ignored (https://github.com/raluca-scona/staticfusion/blob/master/SegmentationBackground.cpp#L150), but is there any reason why?

Thanks

Thank you for your efforts making this code.

I have a question.
I ran the code and the code make GUI. However, I cannot find the trajectory result such as text file.
Where can I found it??

I had successfully compiled this program and got the dataset from the page provided by the author. But i didn't know how to use them.

I had used ElasticFusion, as shown below

./ElasticFusion -l dyson_lab.klg

Could you give me some way to use StaticFusion?

Looking forward to your help， thanks！

Thank you very much for sharing! But I have the following problems when compiling. How can I solve them?

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:
pangolin_intf_libs
linked by target "sf_lib" in directory /home/ls-wyf/staticfusion

-- Configuring incomplete, errors occurred!
See also "/home/ls-wyf/staticfusion/build/CMakeFiles/CMakeOutput.log".

Hi, I tried to compile the code against opencv 3.4 and mrpt 1.9.9. However, this didn't work since there were some missing linking folders (/usr/include/opencv) and libs (mrpt-base). Thus, I ended up using opencv_2.4.9 and mrpt_1.5.

Now I get the following error in the compilation:

[ 81%] Linking CXX executable StaticFusion-ImageSeqAssoc
libsf_lib.a(FrontEnd.o): In function `StaticFusion::loadImageFromSequenceAssoc(std::string const&, std::string const&, unsigned int)':
FrontEnd.cpp:(.text+0x8711): undefined reference to `cv::imread(std::string const&, int)'
FrontEnd.cpp:(.text+0x88a8): undefined reference to `cv::imread(std::string const&, int)'
collect2: error: ld returned 1 exit status
CMakeFiles/StaticFusion-ImageSeqAssoc.dir/build.make:130: recipe for target 'StaticFusion-ImageSeqAssoc' failed
make[2]: *** [StaticFusion-ImageSeqAssoc] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/StaticFusion-ImageSeqAssoc.dir/all' failed
make[1]: *** [CMakeFiles/StaticFusion-ImageSeqAssoc.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

which my guess is that is due to wrong version of the opencv lib. Thus, can you tell us the versions of opecv and mrpt libs that you compiled initially the source code.

Thanks.

Maybe the difference between CPU...I only get 50ms/frame on my computer. I intend to use cuda to accelerate it and use it for some further usage. Can you give me some suggestions on where to modify? I modify the kmeans algorithm to shorten it into 2ms(before it is 4ms) already.

Thank you for your excellent work, I have a problem when I run with the rawlog_rgbd dataset,
terminate called after throwing an instance of 'std::logic_error'
what():

=============== MRPT EXCEPTION =============
mrpt::obs::CObservationPtr mrpt::obs::CRawlog::getAsObservation(std::size_t) const, line 157:
Index out of bounds
mrpt::obs::CObservationPtr mrpt::obs::CRawlog::getAsObservation(std::size_t) const, line 164: