symao / pnpl Goto Github PK

Hi, @symao . Thanks for sharing the code.
I can run this ./demo_pnptrans succeefully. But when I run ./demo_pnpl, it have an error "Segmentation fault (core dumped)"

Hi,

Thanks for the contribution.
This is a rather general question. But does your PnPL algorithm use RANSAC to filter outliers?

Regards,
Alex

Is there any python binding for the same?

MIT, please--if I have any say :)

Hi, thank you for sharing the code!
I can run your code on my own computer. But when I modify the initial value of the translation part to 0, that is Eigen::Vector3d trans(0.0, 0.0, 0.0); in the line 148 of src/pnpnl.cpp file, I met this following error:
buildSystem(): NaN within Jacobian for edge 0x56163c2901e0 for vertex 1
And when I use Google to find this error, they said this reason is that the wrong order of the function setVertex(). But the error I met has nothing to do with the function setVertex().

Got a building error, the compile output shows below:

Scanning dependencies of target demo_pnptrans
[ 16%] Building CXX object CMakeFiles/demo_pnptrans.dir/src/demo_pnptrans.cpp.o
[ 33%] Building CXX object CMakeFiles/demo_pnptrans.dir/src/pnp.cpp.o
[ 50%] Linking CXX executable demo_pnptrans
/usr/bin/ld: CMakeFiles/demo_pnptrans.dir/src/demo_pnptrans.cpp.o: undefined reference to symbol '_ZTVN10__cxxabiv117__class_type_infoE@@CXXABI_1.3'
//usr/lib/x86_64-linux-gnu/libstdc++.so.6: error adding symbols: DSO missing from command line
clang-7: error: linker command failed with exit code 1 (use -v to see invocation)
make[2]: *** [demo_pnptrans] Error 1
make[1]: *** [CMakeFiles/demo_pnptrans.dir/all] Error 2
make: *** [all] Error 2

I found it only show up when I build it with 'clang'. However everything was ok when build with 'gcc'

I got several error message in pnpl.cpp. It seems that after the line
typedef Eigen::Matrix<double,6,1,Eigen::ColMajor> Vector6D;
Vector4D 3D 2D shoule also be defined.

After I fixed this, I got problems with the API of G2O. So I changed to link an early version G2O, and it is OK now.

/home/rick/SLAMProjects/PnPL/src/pnpl.cpp: In function ‘void PnPL(const std::vector<cv::Point3_ >&, const std::vector<cv::Point_ >&, const std::vector<cv::Vec<float, 6> >&, const std::vector<cv::Vec<float, 4> >&, const cv::Mat&, cv::Mat&, cv::Mat&)’:
/home/rick/SLAMProjects/PnPL/src/pnpl.cpp:143:78: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::BlockSolver(g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType*&)’
g2o::BlockSolver_6_3 * solver_ptr = new g2o::BlockSolver_6_3(linearSolver);
^
In file included from /usr/local/include/g2o/core/block_solver.h:199:0,
from /home/rick/SLAMProjects/PnPL/src/pnpl.cpp:4:
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: candidate: g2o::BlockSolver::BlockSolver(std::unique_ptr) [with Traits = g2o::BlockSolverTraits<6, 3>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >]
BlockSolver::BlockSolver(std::unique_ptr linearSolver)
^
/usr/local/include/g2o/core/block_solver.hpp:40:1: note: no known conversion for argument 1 from ‘g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::LinearSolverType* {aka g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, 6, 6, 0> > > >’
/home/rick/SLAMProjects/PnPL/src/pnpl.cpp:144:101: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(g2o::BlockSolver_6_3&)’
g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
^
In file included from /home/rick/SLAMProjects/PnPL/src/pnpl.cpp:7:0:
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: candidate: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::unique_ptrg2o::Solver)
explicit OptimizationAlgorithmLevenberg(std::unique_ptr solver);
^
/usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: no known conversion for argument 1 from ‘g2o::BlockSolver_6_3* {aka g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >*}’ to ‘std::unique_ptrg2o::Solver’
CMakeFiles/demo_pnpl.dir/build.make:86: recipe for target 'CMakeFiles/demo_pnpl.dir/src/pnpl.cpp.o' failed
make[2]: *** [CMakeFiles/demo_pnpl.dir/src/pnpl.cpp.o] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/demo_pnpl.dir/all' failed
make[1]: *** [CMakeFiles/demo_pnpl.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

Hello! I am studying your code, is there any corresponding theoretical materials? Thank you and look forward to your reply.