pvangoor / eqf_vio Goto Github PK

cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo -DBUILD_WITH_ROS=OFF
This is being included!
/home/yy/eqf_vio/eqf_vio/libs/core/include
Building the tests.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yy/eqf_vio/eqf_vio/build/test/googletest-download
[ 11%] Performing download step (git clone) for 'googletest'
正克隆到 'googletest-src'...
fatal: 无效引用：master
CMake Error at googletest-download/googletest-prefix/tmp/googletest-gitclone.cmake:40 (message):
Failed to checkout tag: 'master'

CMakeFiles/googletest.dir/build.make:94: recipe for target 'googletest-prefix/src/googletest-stamp/googletest-download' failed
make[2]: *** [googletest-prefix/src/googletest-stamp/googletest-download] Error 1
CMakeFiles/Makefile2:78: recipe for target 'CMakeFiles/googletest.dir/all' failed
make[1]: *** [CMakeFiles/googletest.dir/all] Error 2
Makefile:86: recipe for target 'all' failed
make: *** [all] Error 2
CMake Error at test/PrepareGTest.cmake:13 (message):
Build step for googletest failed: 2
Call Stack (most recent call first):
test/CMakeLists.txt:3 (include)

-- Configuring incomplete, errors occurred!
See also "/home/yy/eqf_vio/eqf_vio/build/CMakeFiles/CMakeOutput.log".

I use ROS and run using "roslaunch eqf_vio_ros eqf_vio_ros.launch".
I test "V1_01_easy.bag" and "V2_01_easy.bag" and I use the default parameters of the program. The former data has high similarity with the trajectory of the true value only in a short time, but it is very different from the paper Figure 1, and the pose of the latter data is divergent.
Should I change some parameters?I hope I can get a reply from the author. Thank you.

When running catkin_make, I was getting compilation error due to the use of deleted operator= at eqf_vio_ros/src/eqf_vio_ros_node.cpp, line 65 cbSys.featureTracker = GIFT::PointFeatureTracker(camera);

The error comes from a new version of the GIFT library (pushed 4 days ago): commit 1338a08d8801ae22ed1d8ede6527a2f24c68b7db

This commit modifies how settings are handled, and it adds an std::unique_ptr<Settings> settings; into the attributes of the class. Hence it can't be copied like it is done in the ROS code.

Quick fix: git checkout to a previous commit.

Hope it helps anyone,
Best

this is to record the list of packages I needed to install in april 2021 to build eqf_vio and GIFT on a RPi4 running current raspbian lite (buster). This should go into a script or README in future.

Building GIFT:

sudo apt-get install cmake g++ libeigen3-dev libopencv-dev libyaml-cpp-dev libyaml-dev
cd GIFT
mkdir build
cd build
cmake ..
make -j8

Building eqf_vio

cd eqf_vio/eqf_vio
mkdir build
cd build
cmake .. -DBUILD_WITH_ROS=OFF
make -j8

Trying to build the library eqf_vio (with either cmake or ROS), on Linux Mint with all dependencies up to date, I was constantly getting the following error

/usr/include/eigen3/unsupported/Eigen/MatrixFunctions:17:10: fatal error: Eigen/Core: No such file or directory
   17 | #include <Eigen/Core>
      |          ^~~~~~~~~~~~
compilation terminated.

For some reason, the compiler would first find /unsupported/Eigen/MatrixFunctions, but then not find Eigen/Core, even though it is located at the same directory.

The problem was resolved for me by adding this line to the CMakeLists.txt

find_package(Eigen3 REQUIRED)
find_package(yaml-cpp REQUIRED)
# new line here
include_directories(/usr/include/eigen3) 

Hope it can help anyone !

using eqf_vio 7f96263
using GIFT 1ba649aaec975bbf2134e1d070f83206109eb827

environment is ubuntu 20.04, x86-64, libeigen3-dev 3.3.7-2

running on dataset from Shawn (original EqF flight at SV)

command line is:
gdb --args ../../eqf_vio/eqf_vio/build/eqf_vio_gift imu_data.csv cam.mkv cam.csv EQVIO_config.yaml

Thread 1 "eqf_vio_gift" received signal SIGSEGV, Segmentation fault.
GIFT::PinholeCamera::PinholeCamera (this=0x7fffffffca60, cameraConfigFile=...) at /usr/include/opencv4/opencv2/core/mat.inl.hpp:1139
1139	_Tp& Mat::at(int i0, int i1)

(gdb) bt full
#0  GIFT::PinholeCamera::PinholeCamera(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (this=0x7fffffffca60, cameraConfigFile=...)
    at /usr/include/opencv4/opencv2/core/mat.inl.hpp:1139
        fs = <incomplete type>
        tempSize = std::vector of length 2, capacity 2 = {0, 0}
        K = 
              {flags = 1124007936, dims = 0, rows = 0, cols = 0, data = 0x0, datastart = 0x0, dataend = 0x0, datalimit = 0x0, allocator = 0x0, u = 0x0, size = {p = 0x7fffffffc878}, step = {p = 0x7fffffffc8c0, buf = {0, 0}}}
#1  0x0000555555a2f05a in main () at /usr/include/c++/9/ext/new_allocator.h:89

yy@yy:~/eqf_vio/eqf_vio/build$ make
[ 12%] Built target eqf_violib_core
[ 33%] Built target eqf_vio_lib
[ 39%] Built target eqf_vio
Scanning dependencies of target eqf_vio_gift
[ 42%] Building CXX object CMakeFiles/eqf_vio_gift.dir/src/main_gift.cpp.o
/home/yy/eqf_vio/eqf_vio/src/main_gift.cpp: In function ‘int main(int, const char**)’:
/home/yy/eqf_vio/eqf_vio/src/main_gift.cpp:130:5: error: ‘cbSys’ was not declared in this scope
cbSys.featureTracker.settings.configure(giftConfig["GIFT"]);
^~~~~
/home/yy/eqf_vio/eqf_vio/src/main_gift.cpp:130:45: error: ‘giftConfig’ was not declared in this scope
cbSys.featureTracker.settings.configure(giftConfig["GIFT"]);
^~~~~~~~~~
/home/yy/eqf_vio/eqf_vio/src/main_gift.cpp:130:45: note: suggested alternative: ‘safeConfig’
cbSys.featureTracker.settings.configure(giftConfig["GIFT"]);
^~~~~~~~~~
safeConfig
CMakeFiles/eqf_vio_gift.dir/build.make:65: recipe for target 'CMakeFiles/eqf_vio_gift.dir/src/main_gift.cpp.o' failed
make[2]: *** [CMakeFiles/eqf_vio_gift.dir/src/main_gift.cpp.o] Error 1
CMakeFiles/Makefile2:270: recipe for target 'CMakeFiles/eqf_vio_gift.dir/all' failed
make[1]: *** [CMakeFiles/eqf_vio_gift.dir/all] Error 2
Makefile:143: recipe for target 'all' failed
make: *** [all] Error 2