shichaoy / pop_up_image Goto Github PK

Not sure what it is saying .... do I have wrong version of Eigan...(3.3.90) installed as version in Marco.h

/home/rjn/catkin_ws/src/pop_up_image/pop_up_wall/src/popup_plane_main.cpp: In function ‘int main(int, char**)’:
/home/rjn/catkin_ws/src/pop_up_image/pop_up_wall/src/popup_plane_main.cpp:117:93: error: cannot convert ‘Eigen::internal::enable_if<true, Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, float, Eigen::internal::SingleRange> >::type {aka Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, float, Eigen::internal::SingleRange>}’ to ‘const int’ in initialization
     const int x = pop_up_obj.ground_seg2d_lines_connect(pop_up_obj.good_plane_indices(i)-1,0);
                                                                                             ^
/home/rjn/catkin_ws/src/pop_up_image/pop_up_wall/src/popup_plane_main.cpp:120:101: error: no matching function for call to ‘cv::Point_<int>::Point_(Eigen::internal::enable_if<true, Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, float, Eigen::internal::SingleRange> >::type, Eigen::internal::enable_if<true, Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, float, Eigen::internal::SingleRange> >::type)’
                          pop_up_obj.ground_seg2d_lines_connect(pop_up_obj.good_plane_indices(i)-1,1)), \
           

Hello. I'm checking your work and it is really impressive. Now, I'm testing with my own images, so I wonder if the ground plane segmentation network used in your papers is published somewhere.
Greetings.

Hi @shichaoy , I am trying to make the code by catkin_make but fails as detailed below.
I work on ubuntu 16.04 / ros kinetic. What do you think?

catkin_make
Base path: /home/mohammad/popup_ws
Source space: /home/mohammad/popup_ws/src
Build space: /home/mohammad/popup_ws/build
Devel space: /home/mohammad/popup_ws/devel
Install space: /home/mohammad/popup_ws/install

Running command: "make cmake_check_build_system" in "/home/mohammad/popup_ws/build"

-- Using CATKIN_DEVEL_PREFIX: /home/mohammad/popup_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/mohammad/popup_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.6
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 5 packages in topological order:
-- ~~ - line_lbd
-- ~~ - python_module
-- ~~ - numpy_opencv
-- ~~ - pop_up_python
-- ~~ - pop_up_wall
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'line_lbd'
-- ==> add_subdirectory(line_lbd)
-- +++ processing catkin package: 'python_module'
-- ==> add_subdirectory(python_module)
-- +++ processing catkin package: 'numpy_opencv'
-- ==> add_subdirectory(numpy_opencv)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- python
CMake Warning (dev) at python_module/cmake/add_python_export_library.cmake:114 (get_property):
Policy CMP0026 is not set: Disallow use of the LOCATION target property.
Run "cmake --help-policy CMP0026" for policy details. Use the cmake_policy
command to set the policy and suppress this warning.

The LOCATION property should not be read from target "numpy_opencv". Use
the target name directly with add_custom_command, or use the generator
expression $<TARGET_FILE>, as appropriate.

Call Stack (most recent call first):
numpy_opencv/CMakeLists.txt:20 (add_python_export_library)
This warning is for project developers. Use -Wno-dev to suppress it.

-- +++ processing catkin package: 'pop_up_python'
-- ==> add_subdirectory(pop_up_python)
-- +++ processing catkin package: 'pop_up_wall'
-- ==> add_subdirectory(pop_up_wall)
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- Boost version: 1.58.0
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- serialization
-- chrono
-- atomic
-- regex
** WARNING ** io features related to pcap will be disabled
** WARNING ** io features related to png will be disabled
-- The imported target "vtkRenderingPythonTkWidgets" references the file
"/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- The imported target "vtk" references the file
"/usr/bin/vtk"
but this file does not exist. Possible reasons include:

• The file was deleted, renamed, or moved to another location.
• An install or uninstall procedure did not complete successfully.
• The installation package was faulty and contained
  "/usr/lib/cmake/vtk-6.2/VTKTargets.cmake"
  but not all the files it references.

-- looking for PCL_COMMON
-- looking for PCL_KDTREE
-- looking for PCL_OCTREE
-- looking for PCL_SEARCH
-- looking for PCL_IO
-- looking for PCL_SAMPLE_CONSENSUS
-- looking for PCL_FILTERS
-- looking for PCL_GEOMETRY
-- looking for PCL_FEATURES
-- looking for PCL_SEGMENTATION
-- looking for PCL_SURFACE
-- looking for PCL_REGISTRATION
-- looking for PCL_RECOGNITION
-- looking for PCL_KEYPOINTS
-- looking for PCL_VISUALIZATION
-- looking for PCL_PEOPLE
-- looking for PCL_OUTOFCORE
-- looking for PCL_TRACKING
-- looking for PCL_APPS
-- Could NOT find PCL_APPS (missing: PCL_APPS_LIBRARY)
-- looking for PCL_MODELER
-- looking for PCL_IN_HAND_SCANNER
-- looking for PCL_POINT_CLOUD_EDITOR
CMake Warning at /opt/ros/kinetic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
The FindEigen.cmake Module in the cmake_modules package is deprecated.

Please use the FindEigen3.cmake Module provided with Eigen. Change
instances of find_package(Eigen) to find_package(Eigen3). Check the
FindEigen3.cmake Module for the resulting CMake variable names.

Call Stack (most recent call first):
pop_up_wall/CMakeLists.txt:23 (find_package)

-- Eigen found (include: /usr/include/eigen3)

pop_up_wall Configuration Summary
Build type: Release

-- Configuring done
-- Generating done
-- Build files have been written to: /home/mohammad/popup_ws/build

Running command: "make -j8 -l8" in "/home/mohammad/popup_ws/build"

[ 4%] Building CXX object numpy_opencv/CMakeFiles/numpy_opencv.dir/src/utils/conversion.cpp.o
[ 23%] Built target matrix_utils_lib
[ 47%] Built target line_lbd_lib
[ 52%] Linking CXX executable /home/mohammad/popup_ws/devel/lib/line_lbd/linelbd_detect_node
[ 71%] Built target pop_up_wall
Scanning dependencies of target pop_up_main_node
In file included from /usr/include/python2.7/numpy/ndarraytypes.h:1777:0,
from /usr/include/python2.7/numpy/ndarrayobject.h:18,
from /home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.h:10,
from /home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp:5:
/usr/include/python2.7/numpy/npy_1_7_deprecated_api.h:15:2: warning: #warning "Using deprecated NumPy API, disable it by " "#defining NPY_NO_DEPRECATED_API NPY_1_7_API_VERSION" [-Wcpp]
#warning "Using deprecated NumPy API, disable it by "
^
[ 76%] Building CXX object pop_up_wall/CMakeFiles/pop_up_main_node.dir/src/popup_plane_main.cpp.o
CMakeFiles/linelbd_detect_node.dir/src/detect_lines.cpp.o: In function cv::String::String(char const*)': detect_lines.cpp:(.text._ZN2cv6StringC2EPKc[_ZN2cv6StringC5EPKc]+0x30): undefined reference to cv::String::allocate(unsigned long)'
CMakeFiles/linelbd_detect_node.dir/src/detect_lines.cpp.o: In function main': detect_lines.cpp:(.text.startup+0xdd): undefined reference to cv::imread(cv::String const&, int)'
detect_lines.cpp:(.text.startup+0xe5): undefined reference to cv::String::deallocate()' detect_lines.cpp:(.text.startup+0x413): undefined reference to cv::imshow(cv::String const&, cv::InputArray const&)'
detect_lines.cpp:(.text.startup+0x41f): undefined reference to cv::String::deallocate()' detect_lines.cpp:(.text.startup+0x4be): undefined reference to cv::imwrite(cv::String const&, cv::InputArray const&, std::vector<int, std::allocator > const&)'
detect_lines.cpp:(.text.startup+0x4ca): undefined reference to cv::String::deallocate()' detect_lines.cpp:(.text.startup+0x56c): undefined reference to cv::String::allocate(unsigned long)'
detect_lines.cpp:(.text.startup+0x779): undefined reference to cv::String::deallocate()' detect_lines.cpp:(.text.startup+0x7cc): undefined reference to cv::String::deallocate()'
detect_lines.cpp:(.text.startup+0x7e7): undefined reference to cv::String::deallocate()' /home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to cv::line(cv::InputOutputArray const&, cv::Point, cv::Point, cv::Scalar const&, int, int, int)'
/home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to cv::Algorithm::save(cv::String const&) const' /home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to cv::error(int, cv::String const&, char const*, char const*, int)'
/home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to cv::operator<<(cv::FileStorage&, cv::String const&)' /home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to cv::read(cv::FileNode const&, int&, int)'
/home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to cv::Algorithm::getDefaultName() const' /home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to cv::write(cv::FileStorage&, cv::String const&, int)'
/home/mohammad/popup_ws/devel/lib/libline_lbd_lib.so: undefined reference to `cv::InputArray::getMat(int) const'
collect2: error: ld returned 1 exit status
line_lbd/CMakeFiles/linelbd_detect_node.dir/build.make:112: recipe for target '/home/mohammad/popup_ws/devel/lib/line_lbd/linelbd_detect_node' failed
make[2]: *** [/home/mohammad/popup_ws/devel/lib/line_lbd/linelbd_detect_node] Error 1
CMakeFiles/Makefile2:400: recipe for target 'line_lbd/CMakeFiles/linelbd_detect_node.dir/all' failed
make[1]: *** [line_lbd/CMakeFiles/linelbd_detect_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp:182:16: error: cannot declare variable ‘g_numpyAllocator’ to be of abstract type ‘NumpyAllocator’
NumpyAllocator g_numpyAllocator;
^
/home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp:125:7: note: because the following virtual functions are pure within ‘NumpyAllocator’:
class NumpyAllocator : public MatAllocator {
^
In file included from /usr/local/include/opencv2/core.hpp:59:0,
from /usr/local/include/opencv2/opencv.hpp:52,
from /home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.h:8,
from /home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp:5:
/usr/local/include/opencv2/core/mat.hpp:417:23: note: virtual cv::UMatData* cv::MatAllocator::allocate(int, const int*, int, void*, size_t*, int, cv::UMatUsageFlags) const
virtual UMatData* allocate(int dims, const int* sizes, int type,
^
/usr/local/include/opencv2/core/mat.hpp:419:18: note: virtual bool cv::MatAllocator::allocate(cv::UMatData*, int, cv::UMatUsageFlags) const
virtual bool allocate(UMatData* data, int accessflags, UMatUsageFlags usageFlags) const = 0;
^
/usr/local/include/opencv2/core/mat.hpp:420:18: note: virtual void cv::MatAllocator::deallocate(cv::UMatData*) const
virtual void deallocate(UMatData* data) const = 0;
^
/home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp: In member function ‘cv::Mat NDArrayConverter::toMat(const PyObject*)’:
/home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp:280:7: error: ‘class cv::Mat’ has no member named ‘refcount’
m.refcount = refcountFromPyObject(o);
^
/home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp: In member function ‘PyObject* NDArrayConverter::toNDArray(const cv::Mat&)’:
/home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp:315:10: error: ‘class cv::Mat’ has no member named ‘refcount’
if(!p->refcount || p->allocator != &g_numpyAllocator) {
^
/home/mohammad/popup_ws/src/numpy_opencv/src/utils/conversion.cpp:321:34: error: ‘class cv::Mat’ has no member named ‘refcount’
return pyObjectFromRefcount(p->refcount);
^
numpy_opencv/CMakeFiles/numpy_opencv.dir/build.make:86: recipe for target 'numpy_opencv/CMakeFiles/numpy_opencv.dir/src/utils/conversion.cpp.o' failed
make[2]: *** [numpy_opencv/CMakeFiles/numpy_opencv.dir/src/utils/conversion.cpp.o] Error 1
CMakeFiles/Makefile2:473: recipe for target 'numpy_opencv/CMakeFiles/numpy_opencv.dir/all' failed
make[1]: *** [numpy_opencv/CMakeFiles/numpy_opencv.dir/all] Error 2
[ 80%] Linking CXX executable /home/mohammad/popup_ws/devel/lib/pop_up_wall/pop_up_main_node
[ 80%] Built target pop_up_main_node
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Hi Shichaoy,

I am using Ubuntu 14.04.5 using ROS (Indigo)
When compiling there is an error. See attached, screen grab.

Would be great if you can help or suggest a work around. Ubuntu 16.2 also gave a compiler error. ;(

Best and thank you very much for your input.

Hello Shichaoy,
I successfully compiled the code. A nice 3d mesh appeared etc. However I don't see how can I use the code on my own images, I would appreciate if you could explain a little how can I use the code to try your method on my data.

Thanks

Hello, your codes were ran in ubuntu14.04+ROS indigo.
Have you ever tried them on ubuntu16.04+ROS?
Thanks for your reply.