geturin / oafd_monocular Goto Github PK
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License: MIT License
Master Thesis
License: MIT License
I'm having trouble reproducing your project, can you help me take a look? This error occurs when midas is installed, when I run the command "./do_catkin_make.sh", it gives the following error: CMake Error at midas_cpp/CMakeLists.txt:56 (find_package):
By not providing "FindTorch.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Torch", but
CMake did not find one.
Hi @geturin,
After I ran roslaunch oafd ego_tello.launch command, it gave me below output.What is the reason for that?
ude/FrameDrawer.h:24,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Viewer.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Tracking.h:26,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/System.h:31,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/include/common.h:27,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/src/mono_node.cc:7:
/home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/ImuTypes.h:29:10: fatal error: sophus/se3.hpp: No such file or directory
29 | #include <sophus/se3.hpp>
| ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:63: CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/mono_node.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Frame.h:30,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/KeyFrame.h:28,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/MapPoint.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/FrameDrawer.h:24,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Viewer.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Tracking.h:26,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/System.h:31,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/include/common.h:27,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/ImuTypes.h:29:10: fatal error: sophus/se3.hpp: No such file or directory
29 | #include <sophus/se3.hpp>
| ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/build.make:76: CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/src/common.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1543: CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/all] Error 2
In file included from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Frame.h:30,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/KeyFrame.h:28,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/MapPoint.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/FrameDrawer.h:24,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Viewer.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Tracking.h:26,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/System.h:31,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/include/common.h:27,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/ImuTypes.h:29:10: fatal error: sophus/se3.hpp: No such file or directory
29 | #include <sophus/se3.hpp>
| ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:76: CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/common.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:814: CMakeFiles/orb_slam3_ros_wrapper_mono.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/arief/FYPworkspaces/tello_ros1_ws/build/orb_slam3_ros_wrapper; catkin build --get-env orb_slam3_ros_wrapper | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -
got an error when trying to build orb slam3 wrapper
What changes in the code are required if I try it on DSO instead of ORB-SLAM3?
Hi @geturin great work,
I am trying to convert midas depth to pointcloud but unable to i can see subscribe topi where i replaced it with my topic but i am not using orbslam3 instead i am using openvins where i have slam points
OAFD_Monocular/src/depthmap_calibration.py
Line 113 in 41f98f3
Secondly if you have depth why not to use depth directly instead of pointcloud.
thankyou
Hello author, I encountered an error while executing the catkin build. The error is as follows:
This is the overall result. Below, I will take some screenshots of the main error messages, as follows:
2./usr/local/include/sophus/rotation_matrix.hpp:16:18: error: redefinition of ‘template bool Sophus::isOrthogonal(const Eigen::MatrixBase&)’
16 | SOPHUS_FUNC bool isOrthogonal(Eigen::MatrixBase const& R) {
|
3.usr/local/include/sophus/rotation_matrix.hpp:32:18: error: redefinition of ‘template bool Sophus::isScaledOrthogonalAndPositive(const Eigen::MatrixBase&)’
32 | SOPHUS_FUNC bool isScaledOrthogonalAndPositive(Eigen::MatrixBase const& sR) {
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
4./usr/local/include/sophus/rotation_matrix.hpp:61:1: error: redefinition of ‘template Sophus::enable_if_t<std::is_floating_point::value, Eigen::Matrix<typename D::Scalar, D::RowsAtCompileTime, D::RowsAtCompileTime, (Eigen::AutoAlign | (((D::RowsAtCompileTime == 1) && (D::RowsAtCompileTime != 1)) ? Eigen::RowMajor : (((D::RowsAtCompileTime == 1) && (D::RowsAtCompileTime != 1)) ? Eigen::ColMajor : Eigen::ColMajor))), D::RowsAtCompileTime, D::RowsAtCompileTime> > Sophus::makeRotationMatrix(const Eigen::MatrixBase&)’
61 | makeRotationMatrix(Eigen::MatrixBase const& R) {
| ^~~~~~~~~~~~~~~~~~
5./usr/local/include/sophus/so2.hpp:17:7: error: redefinition of default argument for ‘int Options’
17 | class SO2;
6./usr/local/include/sophus/so2.hpp:26:8: error: redefinition of ‘struct Eigen::internal::traits<Sophus::SO2<Scalar_, Options_> >’
26 | struct traits<Sophus::SO2<Scalar_, Options_>> {
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
The above are some specific error messages that I have selected, but I have not finished selecting them yet.
I personally think that there was an error in a certain step, but I don't know which step it was. I have already completed the compilation of ORB-SLAM3 before, and libORB-SLAM3.so also appeared.
Just as I was continuing to work, this situation occurred. I would greatly appreciate it if you could see it
i got problem with the catkin_make and catkin build
the orb_slam3_wrapper is on catkin_build but the OAFD_Monocular package on catkin_make
when i run slam.launch in order to do slam, i got problem it says that my orb_slam3_wrapper is missing. how do i fix this?
i got a problem with pat_following.py
Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 29, in get_transformation
self.transformation = self.tf_buffer.lookup_transform(self.target_frame,
File "/opt/ros/noetic/lib/python3/dist-packages/tf2_ros/buffer.py", line 90, in lookup_transform
return self.lookup_transform_core(target_frame, source_frame, time)
tf2.LookupException: "tello" passed to lookupTransform argument target_frame does not exist.
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/path_following.py", line 78, in
tello_origin = tf_linster.transform_pose(origin)
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 47, in transform_pose
self.get_transformation()
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 33, in get_transformation
rospy.logerr('Unable to find the transformation from %s to %s'
TypeError: not enough arguments for format string
my steps that i produce this error :
Loading ORB Vocabulary. This could take a while...
Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/get_odom.py", line 5, in
import ros_numpy
File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/init.py", line 7, in
from . import point_cloud2
File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/point_cloud2.py", line 224, in
def get_xyz_points(cloud_array, remove_nans=True, dtype=np.float):
File "/home/arief/.local/lib/python3.8/site-packages/numpy/init.py", line 305, in getattr
Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/depthmap_calibration.py", line 9, in
raise AttributeError(former_attrs[attr])
from simple_tf import *
AttributeError: module 'numpy' has no attribute 'float'.
np.float
was a deprecated alias for the builtin float
. To avoid this error in existing code, use float
by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64
here.
The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at:
https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 6, in
import ros_numpy
File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/init.py", line 7, in
from . import point_cloud2
File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/point_cloud2.py", line 224, in
def get_xyz_points(cloud_array, remove_nans=True, dtype=np.float):
File "/home/arief/.local/lib/python3.8/site-packages/numpy/init.py", line 305, in getattr
raise AttributeError(former_attrs[attr])
AttributeError: module 'numpy' has no attribute 'float'.
np.float
was a deprecated alias for the builtin float
. To avoid this error in existing code, use float
by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64
here.
The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at:
https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations
[pcd_pub-2] process has died [pid 10928, exit code 1, cmd /home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/depthmap_calibration.py __name:=pcd_pub __log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/pcd_pub-2.log].
log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/pcd_pub-2*.log
[odom_pub-3] process has died [pid 10929, exit code 1, cmd /home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/get_odom.py __name:=odom_pub __log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/odom_pub-3.log].
log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/odom_pub-3*.log
Vocabulary loaded!
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name:
Camera Parameters:
ORB Extractor Parameters:
i try to connect the Tello_node,py
the problem is when i use TELLO EDU apps or Tello apps , i connect to my dji then at the same time i already connected to ROS, then i hit take off on APPS ,then it take off, but when i run the tello-node.ph script which i use rosrun, the script cant connect to my drone, it failed. Is there any suggestion in term of apps like the same apps that you use? Or any alternative to fix my problem like any other script?
my plan is to record the rosbag at the same time i control using apps
Hello, thank you to the author for such an outstanding job, he is truly amazing. But when I'm reproducing your project.
At this step:
cd ~/catkin_ws/src/orb_slam3_ros_wrapper/
nano CMakeLists.txt
set(ORB_SLAM3_DIR
$ENV{HOME}/ORB_SLAM3
)
Build the package normally.
cd ~/catkin_ws/
catkin build
Something went wrong.
The error report is: /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/mono_inertial_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:76:CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/common.cc.o] 错误 1
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/build.make:76:CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/src/common.cc.o] 错误 1
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/build.make:63:CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/src/mono_inertial_node.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1543:CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/rgbd_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/build.make:63:CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/src/rgbd_node.cc.o] 错误 1
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/build.make:76:CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/src/common.cc.o] 错误 1
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/mono_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/build.make:76:CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/src/common.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1651:CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/all] 错误 2
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/stereo_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:63:CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/mono_node.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:814:CMakeFiles/orb_slam3_ros_wrapper_mono.dir/all] 错误 2
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/build.make:63:CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/src/stereo_node.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1138:CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/all] 错误 2
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/stereo_inertial_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
.
The cmake.list I set is:# Change this to your installation of ORB-SLAM3. Default is ~/
set(/home/oem/ORB_SLAM3
).
How should I solve this problem.
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