'point_cloud' is re-declared within the local scope of an else block. This line should be removed, or else the program crashes because CHECK(point_cloud.size() > 0) fails near the end of the program.

Hi,
I am compiling aerial mapper and faced following compile error.

Errors     << aerial_mapper_dsm:make /home/yourID/workspace/indigo_catkin_ws/logs/aerial_mapper_dsm/build.make.001.log
/home/yourID/workspace/indigo_catkin_ws/src/aerial_mapper/aerial_mapper_dsm/src/dsm.cc: In lambda function:
/home/yourID/workspace/indigo_catkin_ws/src/aerial_mapper/aerial_mapper_dsm/src/dsm.cc:172:31: error: no match for 'operator=' (operand types are 'Eigen::internal::enable_if<true, Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, double, double> >::type {aka Eigen::IndexedView<Eigen::Matrix<float, -1, -1>, double, double>}' and 'double')
         layer_elevation(x, y) = idw_height;

It looks Eigen version issue and I am using Eigen 3.3.90 on Ubuntu 14.04.5 ROS-indigo.
Have you encounter similar issue before?
Best,

Can anyone guide me to generate poses? Can we do it using VSFM?

WARNING: Metapackage "aerial_mapper" should not have other dependencies besides a buildtool_depend on catkin and exec_depends.
process[rviz-1]: started with pid [689]
process[demo_dense-2]: started with pid [690]
I1115 17:01:38.283736 690 main-dense-pcl.cc:47] Loading camera rig from file.
I1115 17:01:38.283897 690 aerial-mapper-io.cc:255] Loading camera calibration from: /tmp/simulation/camera_fixed_wing.yaml
/tmp/simulation/camera_fixed_wing.yaml
E1115 17:01:38.283995 690 ncamera.cc:49] Failed to load NCamera from file /tmp/simulation/camera_fixed_wing.yaml with the error:
bad file
F1115 17:01:38.284122 690 aerial-mapper-io.cc:258] Check failed: ncameras Could not load the camera calibration from: /tmp/simulation/camera_fixed_wing.yaml
*** Check failure stack trace: ***
@ 0x7fc76df7143d google::LogMessage::Fail()
@ 0x7fc76df73253 google::LogMessage::SendToLog()
@ 0x7fc76df70fcb google::LogMessage::Flush()
@ 0x7fc76df73c3e google::LogMessageFatal::~LogMessageFatal()
@ 0x7fc76f4fc55d io::AerialMapperIO::loadCameraRigFromFile()
@ 0x40297b main
@ 0x7fc76ce61830 __libc_start_main
@ 0x403b49 _start

Hi, @hitimo
I read the code and try to find out how to implement realtime orthomosaic. But I failed to find how to update the DSM according to a increasing point clound, and how to update the finial orthophoto. the pipeline implement in "ortho-backward-grid.cc" and "ortho-from-pcl.cc" seem a non realtime one since they using all the image, poses and point cloud. And the implement in "ortho-forward-homography.cc" could handle the realtime case, but it is not the real orthophoto since it didn't use the terrain information. Did I missed some thing that could make the first two pipeline process in realtime?

And one more question about the implement of "ortho-forward-homography.cc". In this pipeline, I think the key point is to find the corespondents between the four image corner points and ground points, the easiest way is using the average height of the scene as projection planes. in the ortho-forward-homography line 98, the scale is computed using a constant number 414. I can't understand what this constant number means, could you give me some tips to understand the way to compute the scale.

Miller

Dear All.

I am trying to install aerial_mapper following Timo Hinzmann directions. ( thx you )

ROS steps are ok;
catkin_make is installed under /opt/ros/indigo/bin/

I just change this:

git clone https://github.com/ethz-asl/aerial_mapper.git

i can not run:
catkin init
catkin config
....

i will apreciate any help;

regards,
julio
PS: Debian 9.x steps will be appreciated

platform: ubuntu16.04 , ros kinetic
I follow the guide of "how to install", when run " catkin build aerial_mapper", I meet following error,
hope to get some advice. Thanks!

...................................................................................................................................................
Errors << cv_bridge:cmake /home/ccfy/software/catkin_ws_aerial_mapper/logs/cv_bridge/build.cmake.015.log
CMake Warning at /opt/ros/kinetic/share/catkin/cmake/test/gtest.cmake:149 (message):
skipping gtest 'cv_bridge-utest' in project 'cv_bridge' because gtest was
not found
Call Stack (most recent call first):
/opt/ros/kinetic/share/catkin/cmake/test/gtest.cmake:79 (_catkin_add_executable_with_google_test)
/opt/ros/kinetic/share/catkin/cmake/test/gtest.cmake:28 (_catkin_add_google_test)
test/CMakeLists.txt:6 (catkin_add_gtest)

CMake Error at /home/ccfy/software/catkin_ws_aerial_mapper/src/vision_opencv/cv_bridge/test/CMakeLists.txt:7 (target_link_libraries):
Cannot specify link libraries for target "cv_bridge-utest" which is not
built by this project.

cd /home/ccfy/software/catkin_ws_aerial_mapper/build/cv_bridge; catkin build --get-env cv_bridge | catkin env -si /usr/bin/cmake /home/ccfy/software/catkin_ws_aerial_mapper/src/vision_opencv/cv_bridge --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/ccfy/software/catkin_ws_aerial_mapper/devel -DCMAKE_INSTALL_PREFIX=/home/ccfy/software/catkin_ws_aerial_mapper/install -DCMAKE_BUILD_TYPE=Release; cd -
......................................................................................................................................
Failed << cv_bridge:cmake [ Exited with code 1 ]
Failed <<< cv_bridge [ 1.8 seconds ]

....................................................................................................................................................

Continuing issue #20, and copying the last comment:

Hi and thanks for the changes and the support @hitimo!

I have seen the changes in the last commit and in the installation instructions. There is only one problem: In the installation instructions, maybe the order must be: First wstool update -j8 and later sed -i ... opencv3_catkin/CMakeLists.txt

The 0-synthetic-cadastre-dsm.launch works perfectly now! The accumulated point cloud looks very nice :)

On the other hand, the 1-real-rafz-ortho-from-homography.launch looks like it that does not work correctly. When I launch it, the rafz_gray dataset is load correctly and the node shows the sequence of images, but no homography result is shown and the program fails in:

I0122 10:23:54.483240  4905 aerial-mapper-io.cc:226] Number of images loaded: 249
*** Aborted at 1516613034 (unix time) try "date -d @1516613034" if you are using GNU date ***
PC: @     0x7f4af791e712 ortho::OrthoForwardHomography::prepareBlenderForNextImage()
*** SIGSEGV (@0x0) received by PID 4905 (TID 0x7f4af7cd6800) from PID 0; stack trace: ***
    @     0x7f4af54a7cb0 (unknown)
    @     0x7f4af791e712 ortho::OrthoForwardHomography::prepareBlenderForNextImage()
    @     0x7f4af791f75b ortho::OrthoForwardHomography::OrthoForwardHomography()
    @           0x402361 main
    @     0x7f4af5492f45 __libc_start_main
    @           0x4031f7 (unknown)
[demo_ortho_forward_homography-2] process has died

Maybe it has a similar opencv problem?

Thanks and great work!

Hey there,

I am currently trying to install aerial_mapper. However as I follow the installation steps following error appears:

Exception caught during install: Error processing 'ethzasl_brisk' : [ethzasl_brisk] Checkout of [email protected]:ethz-asl/ethzasl_brisk.git version None into /home/lachs/Documents/Workspace/catkin_ws/aerial_mapper/src/ethzasl_brisk failed.
Error processing 'mono_dense_reconstruction' : [mono_dense_reconstruction] Checkout of [email protected]:ethz-asl/mono_dense_reconstruction.git version None into /home/lachs/Documents/Workspace/catkin_ws/aerial_mapper/src/mono_dense_reconstruction failed.

Sounds to me like the mono dense reconstruction dependency currently does not allow me to run the framework?

Thanks for an info in advance and best regards,

Alex

Problem Description
When trying to run the cadastre dataset with the dsm example,

roslaunch aerial_mapper_demos 0-synthetic-cadastre-dsm.launch

Rviz throws an error

[ERROR] [1615899701.821137904]: PluginlibFactory: The plugin for class 'grid_map_rviz_plugin/GridMap' failed to load.  Error: According to the loaded plugin descriptions the class grid_map_rviz_plugin/GridMap with base class type rviz::Display does not exist. Declared types are  octomap_rviz_plugin/ColorOccupancyGrid octomap_rviz_plugin/OccupancyGrid octomap_rviz_plugin/OccupancyGridStamped octomap_rviz_plugin/OccupancyMap octomap_rviz_plugin/OccupancyMapStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/WrenchStamped rviz_plugin_tutorials/Imu

Expected Behavior
The DSM is displayed in Rviz

https://github.com/ethz-asl/aerial_mapper/wiki/How-to-run
I want to run this project, but i found the dataset link invalid.

Hi,
I'm not familiar with Linux, while I follow the installation step I stuck with this step "catkin config --extend /opt/ros/indigo". It seem indigo only available on Ubuntu 14. Does this means this project could only run on Ubuntu 14? Is there any tips for installation on Ubuntu.

Miller

Errors << pcl_catkin:make /home/fei/catkin_ws_aerial_mapper/logs/pcl_catkin/build.make.002.log

In the install instructions, you should be using
git clone https://github.com/ethz-asl/aerial_mapper.git
instead of
git clone [email protected]:ethz-asl/aerial_mapper.git
The latter only works for those with the correct repository privileges. The same goes for

- git: {local-name: aslam_cv2, uri: 'https://github.com/ethz-asl/aslam_cv2.git'}
- git: {local-name: catkin_simple, uri: 'https://github.com/catkin/catkin_simple.git'}
- git: {local-name: doxygen_catkin, uri: 'https://github.com/ethz-asl/doxygen_catkin.git'}
- git: {local-name: eigen_catkin, uri: 'https://github.com/ethz-asl/eigen_catkin.git'}
- git: {local-name: eigen_checks, uri: 'https://github.com/ethz-asl/eigen_checks.git'}
- git: {local-name: ethzasl_brisk, uri: 'https://github.com/ethz-asl/ethzasl_brisk.git'}
- git: {local-name: gflags_catkin, uri: 'https://github.com/ethz-asl/gflags_catkin.git'}
- git: {local-name: glog_catkin, uri: 'https://github.com/ethz-asl/glog_catkin.git'}
- git: {local-name: grid_map, uri: 'https://github.com/ethz-asl/grid_map.git'}
- git: {local-name: minkindr_ros, uri: 'https://github.com/ethz-asl/minkindr_ros.git'}
- git: {local-name: minkindr, uri: 'https://github.com/ethz-asl/minkindr.git'}
- git: {local-name: opencv3_catkin, uri: 'https://github.com/ethz-asl/opencv3_catkin.git'}
- git: {local-name: pcl_catkin, uri: 'https://github.com/ethz-asl/pcl_catkin.git'}
- git: {local-name: vision_opencv, uri: 'https://github.com/ethz-asl/vision_opencv.git'}
- git: {local-name: yaml_cpp_catkin, uri: 'https://github.com/ethz-asl/yaml_cpp_catkin.git'}

in catkin_ws_aerial_mapper/src/aerial_mapper/install/dependencies.rosinstall

Hi @hitimo

I had found a possible problem in the installation instructions (maybe only for me, but I am not sure, so I think is good to tell you). The 'catkin init' command does not configure the source space (where the code is), so 'catkin build aerial_mapper' does not work. To solve it execute first:

catkin config --source-space /home/deltanet/catkin_ws_aerial_mapper/src/

Hope it is helpful :)

While running the demo with command:
roslaunch aerial_mapper_demos 0-synthetic-cadastre-ortho-backward-incremental-colored.launch
Output is not according to the expectation. (Only empty grid is shown in GUI)
Following the output on command line with the error shown in last line.

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.14

NODES
/
demo_dsm (aerial_mapper_demos/aerial_mapper_demos_dsm)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [4903]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to e941c264-9bef-11e9-ad9b-fcaa1401cbb0
WARNING: Metapackage "aerial_mapper" should not have other dependencies besides a buildtool_depend on catkin and exec_depends.
process[rosout-1]: started with pid [4916]
started core service [/rosout]
process[rviz-2]: started with pid [4924]
process[demo_dsm-3]: started with pid [4934]
I0701 16:03:53.128233 4934 aerial-mapper-io.cc:255] Loading camera calibration from: /tmp/simulation/camera_fixed_wing.yaml
E0701 16:03:53.128453 4934 ncamera.cc:48] Failed to load NCamera from file /tmp/simulation/camera_fixed_wing.yaml with the error:
bad file
F0701 16:03:53.128576 4934 aerial-mapper-io.cc:258] Check failed: ncameras Could not load the camera calibration from: /tmp/simulation/camera_fixed_wing.yaml
*** Check failure stack trace: ***
@ 0x7fd0506e043d google::LogMessage::Fail()
@ 0x7fd0506e2253 google::LogMessage::SendToLog()
@ 0x7fd0506dffcb google::LogMessage::Flush()
@ 0x7fd0506e2c3e google::LogMessageFatal::~LogMessageFatal()
@ 0x7fd051eb255d io::AerialMapperIO::loadCameraRigFromFile()
@ 0x403e82 main
@ 0x7fd04f5d0830 __libc_start_main
@ 0x404579 _start
[demo_dsm-3] process has died [pid 4934, exit code -6, cmd /home/burqstream/catkin_ws_aerial_mapper/devel/lib/aerial_mapper_demos/aerial_mapper_demos_dsm --flagfile=/home/burqstream/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_demos/flags/0-synthetic-cadastre-dsm.ff __name:=demo_dsm __log:=/home/burqstream/.ros/log/e941c264-9bef-11e9-ad9b-fcaa1401cbb0/demo_dsm-3.log].
log file: /home/burqstream/.ros/log/e941c264-9bef-11e9-ad9b-fcaa1401cbb0/demo_dsm-3*.log
^C[rviz-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Hi,
kindly guide about running custom dataset. My system cant find ROS nodes.
Error is here:
ERROR: cannot launch node of type [aerial_mapper_demos/aerial_mapper_demos_dense_pcl]: can't locate node [aerial_mapper_demos_dense_pcl] in package [aerial_mapper_demos]

I have set path of dataset in config file

hi，I want to know that what are T_G_C and T_G_B mean?
For example,Maybe T_G_C means from ground to camera?

Hi!

After download "How to run" datasets and launch the example:

$ roslaunch aerial_mapper_demos 0-synthetic-cadastre-dsm.launch

I receive the next errors:

<...>

I0119 14:33:48.566270 9198 aerial-mapper-io.cc:255] Loading camera calibration from: /home/deltanet/datasets/cadastre_gray/camera_fixed_wing.yaml
W0119 14:33:48.566978 9198 ncamera-yaml-serialization.cc:30] Unable to get the id for the ncamera. Generating new random id.
W0119 14:33:48.567148 9198 camera-yaml-serialization.cc:131] Unable to get the id for the camera. Generating new random id.
I0119 14:33:48.567246 9198 aerial-mapper-io.cc:40] Loading body poses via format: 0
I0119 14:33:48.567255 9198 aerial-mapper-io.cc:107] Loading body poses from: /home/deltanet/datasets/cadastre_gray/opt_poses.txt
I0119 14:33:48.568365 9198 aerial-mapper-io.cc:120] T_G_Bs->size() = 428
I0119 14:33:48.568382 9198 aerial-mapper-io.cc:211] Loading images from directory+prefix: /home/deltanet/datasets/cadastre_gray/image_
*** Aborted at 1516368828 (unix time) try "date -d @1516368828" if you are using GNU date ***
PC: @ 0x7f44409ecd20 cv::_InputArray::size()
*** SIGSEGV (@0x1010028) received by PID 9198 (TID 0x7f444195ba40) from PID 16842792; stack trace: ***
@ 0x7f443f44ccb0 (unknown)
@ 0x7f44409ecd20 cv::_InputArray::size()
@ 0x7f443c8fb61e cv::imshow()
@ 0x7f4440f8f824 io::AerialMapperIO::loadImagesFromFile()
@ 0x4034da main
@ 0x7f443f437f45 __libc_start_main
@ 0x403b93 (unknown)
pci id for fd 24: 8086:5927, driver (null)
[intel_init_bufmgr:1091] Error initializing buffer manager.
libGL error: failed to create dri screen
libGL error: failed to load driver: i965
[demo_dsm-3] process has died [pid 9198, exit code -11, cmd /home/deltanet/catkin_ws_aerial_mapper/devel/lib/aerial_mapper_demos/aerial_mapper_demos_dsm --flagfile=/home/deltanet/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_demos/flags/0-synthetic-cadastre-dsm.ff __name:=demo_dsm __log:=/home/deltanet/.ros/log/6103b1d6-fd1d-11e7-9de5-f44d306d9b3e/demo_dsm-3.log].
log file: /home/deltanet/.ros/log/6103b1d6-fd1d-11e7-9de5-f44d306d9b3e/demo_dsm-3*.log
[ERROR] [1516368828.980968065]: PluginlibFactory: The plugin for class 'grid_map_rviz_plugin/GridMap' failed to load. Error: Could not find library corresponding to plugin grid_map_rviz_plugin/GridMap. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

<...>

Any idea about these?

Thanks!

hi, @hitimo
very amazing work!
I have run the real-rafz dataset by roslaunch 1-real-rafz-ortho-from-homography.launch command,and it work susseccfully;now i would like to build mosaic in backward-incremental way,but it doesn't seem to work,would you please tell me how to do?
I have already changed the .lauch file and .ff file,and it doesn't come the result.jpg

Above error comes while running following command
wstool update -j8

How to solve this problem? I have compiled gflags into a dynamic library.
/usr/bin/ld: /usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libgflags.a(gflags.cc.o): relocation R_X86_64_PC32 against symbol `stderr@@GLIBC_2.2.5' can not be used when making a shared object; recompile with -fPIC

When building under Ubuntu 16.04, ROS Kinetic, got error. The log messages:

~/catkin_ws_aerial_mapper/src$ catkin build aerial_mapper
-----------------------------------------------------------------------
Profile:                     default
Extending:        [explicit] /opt/ros/kinetic
Workspace:                   /home/catkin_ws_aerial_mapper
-----------------------------------------------------------------------
Build Space:        [exists] /home/catkin_ws_aerial_mapper/build
Devel Space:        [exists] /home/catkin_ws_aerial_mapper/devel
Install Space:      [unused] /home/catkin_ws_aerial_mapper/install
Log Space:          [exists] /home/catkin_ws_aerial_mapper/logs
Source Space:       [exists] /home/catkin_ws_aerial_mapper/src
DESTDIR:            [unused] None
-----------------------------------------------------------------------
Devel Space Layout:          merged
Install Space Layout:        None
-----------------------------------------------------------------------
Additional CMake Args:       -DCMAKE_BUILD_TYPE=Release
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-----------------------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-----------------------------------------------------------------------
Workspace configuration appears valid.
-----------------------------------------------------------------------
[build] Found '70' packages in 0.0 seconds.                                                                        
[build] Package table is up to date.                                                                               
Starting  >>> catkin_simple                                                                                        
Starting  >>> doxygen_catkin                                                                                       
Finished  <<< doxygen_catkin                               [ 0.2 seconds ]                                         
Starting  >>> grid_map_core                                                                                        
Finished  <<< catkin_simple                                [ 0.2 seconds ]                                         
Starting  >>> grid_map_msgs                                                                                        
Finished  <<< grid_map_core                                [ 0.4 seconds ]                                         
Starting  >>> aerial_mapper_thirdparty                                                                             
Finished  <<< grid_map_msgs                                [ 0.9 seconds ]                                         
Starting  >>> eigen_catkin                                                                                         
Finished  <<< aerial_mapper_thirdparty                     [ 0.2 seconds ]                                         
Starting  >>> gflags_catkin                                                                                        
Finished  <<< eigen_catkin                                 [ 0.3 seconds ]                                         
Starting  >>> opencv3_catkin                                                                                       
Finished  <<< gflags_catkin                                [ 0.3 seconds ]                                         
Starting  >>> pcl_catkin                                                                                           
Finished  <<< opencv3_catkin                               [ 0.3 seconds ]                                         
Starting  >>> protobuf_catkin                                                                                      
Finished  <<< pcl_catkin                                   [ 0.3 seconds ]                                         
Starting  >>> yaml_cpp_catkin                                                                                      
Finished  <<< protobuf_catkin                              [ 0.3 seconds ]                                         
Starting  >>> glog_catkin                                                                                          
Finished  <<< yaml_cpp_catkin                              [ 0.3 seconds ]                                         
Starting  >>> cv_bridge                                                                                            
Finished  <<< glog_catkin                                  [ 0.3 seconds ]                                         
Starting  >>> eigen_checks                                                                                         
Finished  <<< eigen_checks                                 [ 0.3 seconds ]                                         
Starting  >>> agast                                                                                                
Finished  <<< cv_bridge                                    [ 0.7 seconds ]                                         
Starting  >>> minkindr                                                                                             
Finished  <<< minkindr                                     [ 0.2 seconds ]                                         
Starting  >>> aerial_mapper_google_maps_api                                                                        
Finished  <<< agast                                        [ 0.9 seconds ]                                         
Starting  >>> grid_map_cv                                                                                          
Finished  <<< aerial_mapper_google_maps_api                [ 1.3 seconds ]                                         
Starting  >>> minkindr_conversions                                                                                 
Finished  <<< minkindr_conversions                         [ 0.6 seconds ]                                         
Starting  >>> aslam_cv_common                                                                                      
Finished  <<< grid_map_cv                                  [ 2.1 seconds ]                                         
Starting  >>> brisk                                                                                                
Finished  <<< brisk                                        [ 1.1 seconds ]                                         
Starting  >>> grid_map_ros                                                                                         
Finished  <<< aslam_cv_common                              [ 3.4 seconds ]                                         
Starting  >>> aslam_cv_cameras                                                                                     
Finished  <<< grid_map_ros                                 [ 3.2 seconds ]                                         
Starting  >>> aerial_mapper_grid_map                                                                               
Finished  <<< aerial_mapper_grid_map                       [ 4.9 seconds ]                                         
Finished  <<< aslam_cv_cameras                             [ 45.5 seconds ]                                        
Starting  >>> aslam_cv_frames                                                                                      
Finished  <<< aslam_cv_frames                              [ 12.7 seconds ]                                           
Starting  >>> aslam_cv_pipeline                                                                                       
Finished  <<< aslam_cv_pipeline                            [ 28.0 seconds ]                                           
Starting  >>> aerial_mapper_utils                                                                                     
Finished  <<< aerial_mapper_utils                          [ 2 minutes and 59.5 seconds ]                             
Starting  >>> aerial_mapper_dsm                                                                                       
Starting  >>> aerial_mapper_io                                                                                        
Finished  <<< aerial_mapper_dsm                            [ 5.4 seconds ]                                            
______________________________________________________________________________________________________________________
Errors     << aerial_mapper_io:make /home/catkin_ws_aerial_mapper/logs/aerial_mapper_io/build.make.023.log       
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc: In member function ‘void io::AerialMapperIO::loadPosesFromFile(const io::PoseFormat&, const string&, Poses*)’:
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:42:10: warning: enumeration value ‘ROS’ not handled in switch [-Wswitch]
   switch (format) {
          ^
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc: In member function ‘aslam::NCamera::Ptr io::AerialMapperIO::loadCameraRigFromFile(const string&)’:
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:257:30: error: ‘loadFromYaml’ is not a member of ‘aslam::NCamera’
   ncameras = aslam::NCamera::loadFromYaml(filename_ncameras_yaml);
                              ^~~~~~~~~~~~
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc: In member function ‘void io::AerialMapperIO::toGeoTiff(const cv::Mat&, const Vector2d&, const string&)’:
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:411:25: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
   for (size_t y = 0u; y < height; ++y) {
                       ~~^~~~~~~~
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:412:27: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
     for (size_t x = 0u; x < width; ++x) {
                         ~~^~~~~~~
In file included from /home/catkin_ws_aerial_mapper/src/minkindr/minkindr/include/kindr/minimal/implementation/rotation-quaternion-inl.h:28:0,
                 from /home/catkin_ws_aerial_mapper/src/minkindr/minkindr/include/kindr/minimal/rotation-quaternion.h:237,
                 from /home/catkin_ws_aerial_mapper/src/minkindr/minkindr/include/kindr/minimal/quat-transformation.h:30,
                 from /home/catkin_ws_aerial_mapper/src/aslam_cv2/aslam_cv_common/include/aslam/common/pose-types.h:10,
                 from /home/catkin_ws_aerial_mapper/src/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/ncamera.h:10,
                 from /home/catkin_ws_aerial_mapper/src/aslam_cv2/aslam_cv_pipeline/include/aslam/pipeline/visual-npipeline.h:12,
                 from /home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/include/aerial-mapper-io/aerial-mapper-io.h:12,
                 from /home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:9:
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:413:15: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
       CHECK(x < width);
             ~~^~~
/home/catkin_ws_aerial_mapper/devel/include/glog/logging.h:571:5: note: in definition of macro ‘LOG_IF’
   !(condition) ? (void) 0 : google::LogMessageVoidify() & LOG(severity)
     ^~~~~~~~~
/home/catkin_ws_aerial_mapper/devel/include/glog/logging.h:585:21: note: in expansion of macro ‘GOOGLE_PREDICT_BRANCH_NOT_TAKEN’
       LOG_IF(FATAL, GOOGLE_PREDICT_BRANCH_NOT_TAKEN(!(condition))) \
                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:413:7: note: in expansion of macro ‘CHECK’
       CHECK(x < width);
       ^
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:414:15: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
       CHECK(y < height);
             ~~^~~
/home/catkin_ws_aerial_mapper/devel/include/glog/logging.h:571:5: note: in definition of macro ‘LOG_IF’
   !(condition) ? (void) 0 : google::LogMessageVoidify() & LOG(severity)
     ^~~~~~~~~
/home/catkin_ws_aerial_mapper/devel/include/glog/logging.h:585:21: note: in expansion of macro ‘GOOGLE_PREDICT_BRANCH_NOT_TAKEN’
       LOG_IF(FATAL, GOOGLE_PREDICT_BRANCH_NOT_TAKEN(!(condition))) \
                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:414:7: note: in expansion of macro ‘CHECK’
       CHECK(y < height);
       ^
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:385:19: warning: unused variable ‘poBand’ [-Wunused-variable]
   GDALRasterBand *poBand;
                   ^~~~~~
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:386:9: warning: unused variable ‘abyRaster’ [-Wunused-variable]
   GByte abyRaster[512*512];
         ^~~~~~~~~
/home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:350:59: warning: unused parameter ‘xy’ [-Wunused-parameter]
                                    const Eigen::Vector2d& xy,
                                                           ^~
make[2]: *** [CMakeFiles/aerial_mapper_io.dir/src/aerial-mapper-io.cc.o] Error 1
make[1]: *** [CMakeFiles/aerial_mapper_io.dir/all] Error 2
make: *** [all] Error 2
cd /home/catkin_ws_aerial_mapper/build/aerial_mapper_io; catkin build --get-env aerial_mapper_io | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
......................................................................................................................
Failed     << aerial_mapper_io:make                        [ Exited with code 2 ]                                     
Failed    <<< aerial_mapper_io                             [ 14.5 seconds ]                                           
Abandoned <<< aerial_mapper_dense_pcl                      [ Unrelated job failed ]                                   
Abandoned <<< aerial_mapper_ortho                          [ Unrelated job failed ]                                   
Abandoned <<< aerial_mapper_demos                          [ Unrelated job failed ]                                   
[build] Summary: 28 of 32 packages succeeded.                                                                         
[build]   Ignored:   38 packages were skipped or are blacklisted.                                                     
[build]   Warnings:  None.                                                                                            
[build]   Abandoned: 3 packages were abandoned.                                                                       
[build]   Failed:    1 packages failed.                                                                               
[build] Runtime: 4 minutes and 50.0 seconds total.

The error is

home/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_io/src/aerial-mapper-io.cc:257:30: 
error: ‘loadFromYaml’ is not a member of ‘aslam::NCamera’
ncameras = aslam::NCamera::loadFromYaml(filename_ncameras_yaml);

I tried searching the function ‘loadFromYaml’ in all the sub-projects' code, but failed. Is it missing or in some older revision?

adil@adil-Y11C:~/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_demos/launch$ roslaunch aerial_mapper_demos 0-synthetic-cadastre-dsm.launch
WARNING: Metapackage "aerial_mapper" should not have other dependencies besides a buildtool_depend on catkin and exec_depends.
... logging to /home/adil/.ros/log/50d0adc8-c66b-11e9-95c3-d4258b48fcce/roslaunch-adil-Y11C-15182.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: Metapackage "aerial_mapper" should not have other dependencies besides a buildtool_depend on catkin and exec_depends.
started roslaunch server http://adil-Y11C:40771/

SUMMARY

PARAMETERS

• /rosdistro: melodic
• /rosversion: 1.14.3

NODES
/
demo_dsm (aerial_mapper_demos/aerial_mapper_demos_dsm)
rviz (rviz/rviz)

auto-starting new master
process[master]: started with pid [15192]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 50d0adc8-c66b-11e9-95c3-d4258b48fcce
WARNING: Metapackage "aerial_mapper" should not have other dependencies besides a buildtool_depend on catkin and exec_depends.
process[rosout-1]: started with pid [15203]
started core service [/rosout]
process[rviz-2]: started with pid [15206]
process[demo_dsm-3]: started with pid [15211]
I0824 17:33:05.637838 15211 aerial-mapper-io.cc:255] Loading camera calibration from: /home/adil/big/camera_fixed_wing.yaml
W0824 17:33:05.739182 15211 ncamera-yaml-serialization.cc:30] Unable to get the id for the ncamera. Generating new random id.
W0824 17:33:05.740208 15211 camera-yaml-serialization.cc:131] Unable to get the id for the camera. Generating new random id.
I0824 17:33:05.740765 15211 aerial-mapper-io.cc:40] Loading body poses via format: 0
I0824 17:33:05.740828 15211 aerial-mapper-io.cc:107] Loading body poses from: /home/adil/big/opt_poses.txt
I0824 17:33:05.747117 15211 aerial-mapper-io.cc:120] T_G_Bs->size() = 450
I0824 17:33:05.747232 15211 aerial-mapper-io.cc:211] Loading images from directory+prefix: /home/adil/big/image_
I0824 17:34:50.976186 15211 aerial-mapper-io.cc:226] Number of images loaded: 450
I0824 17:34:50.976429 15211 main-dsm.cc:86] Perform dense reconstruction using planar rectification.
W0824 17:34:53.944281 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.944631 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.944766 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.944880 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.944984 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945080 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945220 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945307 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945389 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945493 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945593 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945693 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945803 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.945905 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946000 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946074 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946143 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946211 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946278 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946346 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946411 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946482 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946557 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946624 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946698 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946768 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946833 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946907 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.946975 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947048 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947170 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947240 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947310 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947381 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947448 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947513 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947580 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947649 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.947924 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948093 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948184 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948321 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948437 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948573 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948676 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948767 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948856 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.948945 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949030 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949120 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949204 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949290 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949375 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949460 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949544 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949630 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949713 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949797 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949882 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.949970 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950057 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950140 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950230 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950318 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950402 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950489 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950575 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950664 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950748 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950832 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.950918 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.951002 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.951089 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.951174 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
W0824 17:34:53.951259 15211 distortion-equidistant.cc:170] Did not converge with max. iterations.
I0824 17:34:54.961812 15211 stereo.cpp:94] Processing image 9/450
I0824 17:34:54.961858 15211 stereo.cpp:94] Processing image 19/450
I0824 17:34:57.932658 15211 stereo.cpp:94] Processing image 29/450
I0824 17:35:14.332056 15211 stereo.cpp:94] Processing image 39/450
I0824 17:35:40.509380 15211 stereo.cpp:94] Processing image 49/450
I0824 17:35:54.209096 15211 stereo.cpp:94] Processing image 59/450
F0824 17:35:58.256014 15211 rectifier.cpp:100] Check failed: xyw_2(2) != 0.0 (0 vs. 0)
*** Check failure stack trace: ***
@ 0x7fdb85a11b0d google::LogMessage::Fail()
@ 0x7fdb85a139b1 google::LogMessage::SendToLog()
@ 0x7fdb85a1163d google::LogMessage::Flush()
@ 0x7fdb85a14369 google::LogMessageFatal::~LogMessageFatal()
@ 0x7fdb877f5398 stereo::Rectifier::rectifyStereoPair()
@ 0x7fdb877e90af stereo::Stereo::processStereoFrame()
@ 0x7fdb877ea0ab stereo::Stereo::addFrame()
@ 0x7fdb877ec98a stereo::Stereo::addFrames()
@ 0x561a0f0bbcc5 (unknown)
@ 0x7fdb848cdb97 __libc_start_main
@ 0x561a0f0bbe9a (unknown)

Ubuntu 16.04 fresh install with ROS kinetic. I followed steps from readme and while executing the command roslaunch aerial_mapper_demos 0-synthetic-cadastre-dense-pcl.launch the following error message is shown. What could be wrong here?
p.s. I am new to ROS/catkin

Finished  <<< aerial_mapper_demos                          [ 59.1 seconds ]                                  
[build] Summary: All 31 packages succeeded!                                                                  
[build]   Ignored:   22 packages were skipped or are blacklisted.                                            
[build]   Warnings:  13 packages succeeded with warnings.                                                    
[build]   Abandoned: None.                                                                                   
[build]   Failed:    None.                                                                                   
[build] Runtime: 1 hour 4 minutes and 15.6 seconds total.                                                    
[build] Note: Workspace packages have changed, please re-source setup files to use them.
mapper@mapper-VirtualBox:~/catkin_ws_aerial_mapper/src$ roslaunch aerial_mapper_demos 0-synthetic-cadastre-dense-pcl.launch
[0-synthetic-cadastre-dense-pcl.launch] is neither a launch file in package [aerial_mapper_demos] nor is [aerial_mapper_demos] a launch file name
The traceback for the exception was written to the log file

Dear All,
Thank you, i am trying to install aerial_mapper on Ubuntu 16.04, but i have meet some difficulties. Here are some screenshots.

grid_map i have already completed in another workspace.

so i don't konw why the errors. please help me.Thx

Errors << aerial_mapper_grid_map:cmake /home/laiming/catkin_ws_aerial_mapper/logs/aerial_mapper_grid_map/build.cmake.001.log
CMake Error at /home/laiming/catkin_ws_aerial_mapper/devel/share/catkin_simple/cmake/catkin_simple-extras.cmake:38 (find_package):
By not providing "Findeigen_catkin.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"eigen_catkin", but CMake did not find one.

Could not find a package configuration file provided by "eigen_catkin" with
any of the following names:

eigen_catkinConfig.cmake
eigen_catkin-config.cmake

Add the installation prefix of "eigen_catkin" to CMAKE_PREFIX_PATH or set
"eigen_catkin_DIR" to a directory containing one of the above files. If
"eigen_catkin" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
CMakeLists.txt:5 (catkin_simple)

Hi, while executing the "catkin build aerial_mapper", I got following error. Can you please provide some help to resolve this issue. I used Ubunto 14.04.

/home/ramesh/catkin_ws_aerial_mapper/src/grid_map/grid_map_core/src/CubicInterpolation.cpp:345:63: error: cannot convert ‘const std::initializer_list’ to ‘unsigned int’ for argument ‘2’ to ‘unsigned int grid_map::bindIndexToRange(unsigned int, unsigned int)’
right = layerData(bindIndexToRange(index.x() - 1, numRow), index.y());
^
/home/ramesh/catkin_ws_aerial_mapper/src/grid_map/grid_map_core/src/CubicInterpolation.cpp:349:73: error: cannot convert ‘const std::initializer_list’ to ‘unsigned int’ for argument ‘2’ to ‘unsigned int grid_map::bindIndexToRange(unsigned int, unsigned int)’
left = layerData(index.x(), bindIndexToRange(index.y() + 1, numCol));
^
/home/ramesh/catkin_ws_aerial_mapper/src/grid_map/grid_map_core/src/CubicInterpolation.cpp:350:74: error: cannot convert ‘const std::initializer_list’ to ‘unsigned int’ for argument ‘2’ to ‘unsigned int grid_map::bindIndexToRange(unsigned int, unsigned int)’
right = layerData(index.x(), bindIndexToRange(index.y() - 1, numCol));

Thank you.

Hello,

While building the package, I encountered the following error:
Errors << glog_catkin:make /path/to/catkin_ws_aerial_mapper/logs/glog_catkin/build.make.000.log /bin/sh: 1: autoreconf: not found make[2]: *** [glog_src-prefix/src/glog_src-stamp/glog_src-configure] Error 127 make[1]: *** [CMakeFiles/glog_src.dir/all] Error 2 make: *** [all] Error 2

This was fixed by installing autoconf on Ubuntu 16.04:
$sudo apt install autoconf

Hi, @hitimo
I read the source code and got some question about produce of orthophoto as following:

1. if I got the GPS geodesic coordinate of the images, the geodesic coordinate is not a Cartesian coordinate, when I prefer the coordinate transfer should I use UTM projection to project the GPS coordinate to an Cartesian coordinate? if not, how to handle the earth curve error?

2. I noticed that during the process of orthophoto generate the landmark coordinate is projected through UTM ( the variable landmark_UTM in "ortho-backward-grid.cc" seems mean that ), how does those UTM coordinate computed, does simply add an constant step in X and Y direction work for that?

3. I am not familiar with the coordinate transfer between geodesic coordinate and Cartesian coordinate (I have already google that but still not so clear ), In the produce of orthophoto, In which step should I perform the UTM projection?

Many Thanks,
Miller

Great software system, I've got some test images that have gps tags, using OpenCV pinhole model, I can get a spares cloud that I can get the initial geodetic poses and rotation matrices from. I've got a couple of questions on the format of the input data.

1. Are the rotations in quaternion form?
2. How does one define the origin flags from my data?
   --forward_homography_origin_easting_m=464980.0
   --forward_homography_origin_northing_m=5.27226e+06
   --forward_homography_origin_elevation_m=414.087

is the origin the center of all captures, or is it something else?

Hey hey,

I stumbled upon you DSM creation and wonder why you use a 3D k-d tree for nearest neighbourhood search? In my thinking, for each cell you want to find the points closest to this cells x- and y-coordinate. Therefor you should only search your point cloud for the closest points in x- and y-direction. If you also consider the point cloud's z-axis, you might get wrong neighbours in regions with rapid elevation changes.

I'll try to visualize it with ASCII: Given the points (0,0,0), (1,0,0), (2,0,0), (3,0,5), (4,0,5), (5,0,0):
...''.
the nearest neighbours for point (2,0,0) close to the elevation change should be (3,0,5). However, if you also consider the height, it will detect (5,0,0) as closer. Or am I overlooking something?

Best regards,
Alex