ethz-asl / aslam_cv2 Goto Github PK

aslam_cv_common appears to not export the compiled protobuf header location correctly. When building with Devel Space Layout: linked (the default for catkin config using python-catkin-tools with ROS Melodic), the following errors are reported:

Errors     << aslam_cv_cameras:make /home/xxx/issue_ws/logs/aslam_cv_cameras/build.make.000.log
In file included from /home/xxx/issue_ws/src/aslam_cv2/aslam_cv_common/include/aslam/common/unique-id.h:12:0,
                 from /home/xxx/issue_ws/src/aslam_cv2/aslam_cv_common/include/aslam/common/sensor.h:7,
                 from /home/xxx/issue_ws/src/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera.h:16,
                 from /home/xxx/issue_ws/src/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera-3d-lidar.h:4,                                                                                                                     
                 from /home/xxx/issue_ws/src/aslam_cv2/aslam_cv_cameras/src/camera-3d-lidar.cc:1:
/home/xxx/issue_ws/src/aslam_cv2/aslam_cv_common/include/aslam/common/internal/unique-id.h:7:10: fatal error: aslam/common/id.pb.h: No such file or directory                                                                          
 #include <aslam/common/id.pb.h>
          ^~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
<similar errors removed for brevity>

After cleaning the workspace, and setting catkin config --merge-devel the package aslam_cv_cameras builds correctly.

Hello! In the tracking process, you used descriptors to match keypoints firstly. Then you use LK-flow to track the others not matched in first step. But you cannot determine the keypoints which LK-flow generates is the part of the frame_kp1's old keypoints. You just add them to the end. Does it necessary to check it?

Hi,

When I try to build aslam_cv2 with catkin build, I get this error when building cv_cameras:

In file included from /home/andrew/realsense-catkin_ws/src/aslam_cv2/aslam_cv_common/include/aslam/common/unique-id.h:12:0,
                 from /home/andrew/realsense-catkin_ws/src/aslam_cv2/aslam_cv_common/include/aslam/common/sensor.h:7,
                 from /home/andrew/realsense-catkin_ws/src/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera.h:14,
                 from /home/andrew/realsense-catkin_ws/src/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera-3d-lidar.h:4,
                 from /home/andrew/realsense-catkin_ws/src/aslam_cv2/aslam_cv_cameras/src/camera-3d-lidar.cc:1:
/home/andrew/realsense-catkin_ws/src/aslam_cv2/aslam_cv_common/include/aslam/common/internal/unique-id.h:7:10: fatal error: aslam/common/id.pb.h: No such file or directory
 #include "aslam/common/id.pb.h"
          ^~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/aslam_cv_cameras.dir/src/camera-3d-lidar.cc.o] Error 1
make[1]: *** [CMakeFiles/aslam_cv_cameras.dir/all] Error 2
make: *** [all] Error 2

I've checked the header files in aslam_cv_common/include/aslam/common and the subfolders and can't find any file with that name. Is there something I'm missing? I'm using Ubuntu 18.04 and ROS Melodic.

Thanks,
Andrew

Hi,
Thank you for sharing this high-quality work!
I want to modify the base class VisualFrame, which only supports binary descriptor for now, to support float descriptor type(e.g. from SIFT or other detectors ).
At first glance, I plan to make this class a template, but I found many codes which use this class need to be modified due to this change.
Do you have some advice?
Thank you!
Best Wishes. Pang Fumin @ Beijing

Hello,

When i try to build this package with : catkin build aslam_cv_geometric_vision

i got this error, but i don't know where did she came from. I have tried to reinstall opengv but nothings change, i also tried to make a new WS and rebuild all my PKG but same error.

`In file included from /home/joe/catkin_ws/src/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera.h:11:0,

from /home/joe/catkin_ws/src/aslam_cv2/aslam_cv_cameras/include/aslam/cameras/camera-pinhole.h:4,

from /home/joe/catkin_ws/src/aslam_cv2/aslam_cv_geometric_vision/src/pnp-pose-estimator.cc:3:
/home/joe/catkin_ws/src/aslam_cv2/aslam_cv_geometric_vision/src/pnp-pose-estimator.cc: In member function ‘bool aslam::geometric_vision::PnpPoseEstimator::absoluteMultiPoseRansac(const Matrix2Xd&, const std::vector&, const Matrix3Xd&, double, int, aslam::NCamera::ConstPtr, aslam::Transformation*, std::vector, std::vector, int*)’:

/home/joe/catkin_ws/src/aslam_cv2/aslam_cv_geometric_vision/src/pnp-pose-estimator.cc:252:43: error: ‘class opengv::sac::Ransacopengv::sac_problems::absolute_pose::AbsolutePoseSacProblem’ has no member named ‘inlier_distances_to_model_’
CHECK_EQ(ransac.inliers_.size(), ransac.inlier_distances_to_model_.size());
^
/home/joe/catkin_ws/devel/include/glog/logging.h:746:44: note: in definition of macro ‘CHECK_OP_LOG’
google::GetReferenceableValue(val2),
^
/home/joe/catkin_ws/devel/include/glog/logging.h:788:30: note: in expansion of macro ‘CHECK_OP’
#define CHECK_EQ(val1, val2) CHECK_OP(EQ, ==, val1, val2)
^
/home/joe/catkin_ws/src/aslam_cv2/aslam_cv_geometric_vision/src/pnp-pose-estimator.cc:252:3: note: in expansion of macro ‘CHECK_EQ’
CHECK_EQ(ransac.inliers.size(), ransac.inlier_distances_to_model_.size());
^
/home/joe/catkin_ws/src/aslam_cv2/aslam_cv_geometric_vision/src/pnp-pose-estimator.cc:270:39: error: ‘class opengv::sac::Ransacopengv::sac_problems::absolute_pose::AbsolutePoseSacProblem’ has no member named ‘inlier_distances_to_model_’
*inlier_distances_to_model = ransac.inlier_distances_to_model_;
^
make[2]: *** [CMakeFiles/aslam_cv_geometric_vision.dir/src/pnp-pose-estimator.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/aslam_cv_geometric_vision.dir/all] Error 2
make: *** [all] Error 2
`
I use Ubuntu 16.04 with ROS Kinetic

Thanks you in advance,

Clement

ethz-asl/maplab#351

like this issue said, the definition of GyroTwoFrameMatcher::getKeypointIteratorsInWindow is in gyro-two-frame-matcher.h file, but it is included by both gyro-two-frame-matcher.cc and feature-tracker-gyro.cc, this may cause multi-definition error if both aslam_cv_matcher module and aslam_cv_tracker module are linked. Would you please move the implementation of GyroTwoFrameMatcher::getKeypointIteratorsInWindow to gyro-two-frame-matcher.cc.