I'm trying to compile dvo_slam on my machine: Ubuntu 12.04.5 / ros fuerte. The compilation terminates when dvo_core is compiled.

In summary, I notice that there is an error relating to conversion between different data types.

In dense_tracking.cpp, line 263 causes the compilation error:
Eigen::Affine3f transformf;
transformf = estimate().matrix().cast();

I'm thinking about passing data from estimate().matrix() to transformf manually. However I guess there should be a better way to handle the issue.

Below is the error message:

{-------------------------------------------------------------------------------
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp: In instantiation of ‘Eigen::Matrix<typename Eigen::internal::traits::Scalar, 3, 3> Sophus::SE3GroupBase::rotationMatrix() const [with Derived = Sophus::SE3Group; typename Eigen::internal::traits::Scalar = double]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:227:59: required from ‘Sophus::SE3GroupBase::Transformation Sophus::SE3GroupBase::matrix() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::Transformation = Eigen::Matrix<double, 4, 4>; typename Eigen::internal::traits::Scalar = double]’
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:263:40: required from here
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:311:25: error: could not convert ‘((const Sophus::SO3GroupBaseSophus::SO3Group)(& Sophus::SE3GroupBase::so3Sophus::SE3Group()))->Sophus::SO3GroupBase::matrixSophus::SO3Group()’ from ‘Sophus::SO3GroupBaseSophus::SO3Group::Transformation {aka int}’ to ‘Eigen::Matrix<double, 3, 3>’
return so3().matrix();
^
In file included from /home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:27:0,
from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:27:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/so3.hpp: In instantiation of ‘static Sophus::SO3GroupBase::Tangent Sophus::SO3GroupBase::logAndTheta(const int&, int) [with Derived = Sophus::SO3Group; Sophus::SO3GroupBase::Tangent = int]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:611:56: required from ‘static Sophus::SE3GroupBase::Tangent Sophus::SE3GroupBase::log(const Sophus::SE3Group<typename Eigen::internal::traits::Scalar>&) [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::Tangent = Eigen::Matrix<double, 6, 1>; typename Eigen::internal::traits::Scalar = double]’
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:211:21: required from ‘Sophus::SE3GroupBase::Tangent Sophus::SE3GroupBase::log() const [with Derived = Sophus::SE3Group; Sophus::SE3GroupBase::Tangent = Eigen::Matrix<double, 6, 1>; typename Eigen::internal::traits::Scalar = double]’
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:238:17: required from here
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/so3.hpp:569:3: warning: no return statement in function returning non-void [-Wreturn-type]
}
^
In file included from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:27:0:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp: In member function ‘Sophus::SE3Group<typename Eigen::internal::traits::Scalar> Sophus::SE3GroupBase::inverse() const [with Derived = Sophus::SE3Group; typename Eigen::internal::traits::Scalar = double]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:200:3: warning: control reaches end of non-void function [-Wreturn-type]
}
^
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp: In member function ‘Eigen::Matrix<typename Eigen::internal::traits::Scalar, 3, 3> Sophus::SE3GroupBase::rotationMatrix() const [with Derived = Sophus::SE3Group; typename Eigen::internal::traits::Scalar = double]’:
/home/panda/Desktop/slam_baselines/dvo_slam/sophus/include/sophus/se3.hpp:312:3: warning: control reaches end of non-void function [-Wreturn-type]
}
^
In file included from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/dense_tracking.h:28:0,
from /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/src/dense_tracking.cpp:23:
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_core.dir/src/dense_tracking.o] Error 1
make[3]: Leaving directory /home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build' make[2]: *** [CMakeFiles/dvo_core.dir/all] Error 2 make[2]: Leaving directory/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/panda/Desktop/slam_baselines/dvo_slam/dvo_core/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_core written to:
[ rosmake ] /home/panda/.ros/rosmake/rosmake_output-20161004-150237/dvo_core/build_output.log
[rosmake-0] Finished <<< dvo_core [FAIL] [ 8.61 seconds ]
[ rosmake ] Halting due to failure in package dvo_core.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 40 packages with 1 failures.
[ rosmake ] Summary output to directory

MY output:

Finished <<< g2o [PASS] [ 2.04 seconds ]
[ rosmake ] Output from build of package dvo_core written to: [ 1 Active 72/76 Complete ]
[ rosmake ] /home/raman/.ros/rosmake/rosmake_output-20160610-164026/dvo_core/build_output.log
[rosmake-0] Finished <<< dvo_core [PASS] [ 23.92 seconds ] [ 38 warnings [ 1 deprecated ] [ 1 antiquated ] [ 7 unused_var ] ]
[rosmake-0] Starting >>> dvo_ros [ make ]
[ rosmake ] Output from build of package dvo_ros written to: [ 1 Active 73/76 Complete ]
[ rosmake ] /home/raman/.ros/rosmake/rosmake_output-20160610-164026/dvo_ros/build_output.log
[rosmake-0] Finished <<< dvo_ros [PASS] [ 25.49 seconds ] [ 2 warnings ]
[rosmake-0] Starting >>> dvo_slam [ make ]
[ rosmake ] Last 40 lineso_slam: 40.1 sec ] [ 1 Active 74/76 Complete ]
{-------------------------------------------------------------------------------
^
/home/raman/indigo_workspace/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h:257:18: error: ‘SparseColumn’ is not a class or namespace
typename SparseColumn::iterator foundIt = sparseColumn.find(r);
^
/home/raman/indigo_workspace/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h:257:41: error: expected ‘(’ before ‘foundIt’
typename SparseColumn::iterator foundIt = sparseColumn.find(r);
^
/home/raman/indigo_workspace/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h:257:41: error: expected ‘;’ before ‘foundIt’
/home/raman/indigo_workspace/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h:258:13: error: ‘foundIt’ was not declared in this scope
if (foundIt == sparseColumn.end()) {
^
/home/raman/indigo_workspace/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h:267:16: error: ‘foundIt’ was not declared in this scope
return foundIt->second;
^
In file included from /home/raman/indigo_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/rgbd_image.h:29:0,
from /home/raman/indigo_workspace/sandbox/dvo_slam/dvo_slam/include/dvo_slam/keyframe_tracker.h:24,
from /home/raman/indigo_workspace/sandbox/dvo_slam/dvo_slam/src/keyframe_tracker.cpp:28:
/home/raman/indigo_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/raman/indigo_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/raman/indigo_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_tracker.cpp.o] Error 1
In file included from /home/raman/indigo_workspace/sandbox/dvo_slam/sophus/include/sophus/so3.hpp:27:0,
from /home/raman/indigo_workspace/sandbox/dvo_slam/sophus/include/sophus/se3.hpp:27,
from /home/raman/indigo_workspace/sandbox/dvo_slam/dvo_slam/src/constraints/constraint_proposal_voter.cpp:23:
/home/raman/indigo_workspace/sandbox/dvo_slam/sophus/include/sophus/sophus.hpp:50:23: warning: type qualifiers ignored on function return type [-Wignored-qualifiers]
const float epsilon() {
^
/home/raman/indigo_workspace/sandbox/dvo_slam/sophus/include/sophus/sophus.hpp:55:18: warning: type qualifiers ignored on function return type [-Wignored-qualifiers]
const float pi() {
^
make[3]: Leaving directory /home/raman/indigo_workspace/sandbox/dvo_slam/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/home/raman/indigo_workspace/sandbox/dvo_slam/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/raman/indigo_workspace/sandbox/dvo_slam/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to: [ 1 Active 74/76 Complete ]
[ rosmake ] /home/raman/.ros/rosmake/rosmake_output-20160610-164026/dvo_slam/build_output.log
[rosmake-0] Finished <<< dvo_slam [FAIL] [ 40.17 seconds ]
[ rosmake ] Halting due to failure in package dvo_slam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 75 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/raman/.ros/rosmake/rosmake_output-20160610-164026

i tried googling but didnt get any relevant response on this. I have compiled dvo before on a different machine and dont recall getting an error like this before. Any help would be appreciated.

Hi everyone,
I'm trying to run dvo_benchmark using different methods related to DVO_SLAM in a similar way to the experimentation done in the original paper "Dense Visual SLAM for RGB-D Cameras".
That is, I would like to evaluate the method using RGB-only, depth-only, both, w and w/o keyframes, etc.
Is there any way to choose the modules to use from the complete DVO_SLAM framework? I have been looking at the launch configuration files, but I haven't found anything which seems to serve this purpose.

Cheers,
Jesus Briales

Hi,

   I just followed the instructions on git clone and rosmake, but the following errors occurred: 

   [ 33%] Building CXX object CMakeFiles/dvo_ros.dir/src/camera_dense_tracking.o

In file included from /home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/surface_pyramid.h:24:0,
from /home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_ros/src/camera_dense_tracking.cpp:27:
/usr/lib/gcc/i686-linux-gnu/4.6/include/mmintrin.h:32:3: error: #error "MMX instruction set not enabled"
In file included from /home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/surface_pyramid.h:25:0,
from /home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_ros/src/camera_dense_tracking.cpp:27:
/usr/lib/gcc/i686-linux-gnu/4.6/include/emmintrin.h:32:3: error: #error "SSE2 instruction set not enabled"
/home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
/home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
make[3]: *** [CMakeFiles/dvo_ros.dir/src/camera_dense_tracking.o] Error 1
make[3]: Leaving directory /home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_ros/build' make[2]: *** [CMakeFiles/dvo_ros.dir/all] Error 2 make[2]: Leaving directory/home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_ros/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/lili/fuerte_workspace/sandbox/dvo_slam/dvo_ros/build'

 Could anyone provide some suggestions? Many thanks in advance!

1.when i run, rosrun dvo_ros camera_tracker
Start dynamic_reconfigure GUI
In /camera_tracker enable reconstruction, use_weighting, run_dense_tracking, and use_dense_tracking_estimate

it get wrong
[ WARN] [1416222358.860807756]: RGB image size has changed, resetting tracker!
Segmentation fault (core dumped)
how to solved it

2.and
Start RVIZ
Set the Target Frame to /world
I cannot find /world in Target Frame
how to solved it,thank you

I used catkin_make to compile dvo_slam
got libdvo_slam.so: undefined reference to 'tbb::internal::concurrent_queue_base_v8::internal_push_move(void const*)'

Linking CXX shared library /home/further/catkin_ws/devel/lib/libdvo_slam.so
[ 97%] Built target dvo_slam
Scanning dependencies of target benchmark
[100%] Building CXX object dvo_slam/dvo_benchmark/CMakeFiles/benchmark.dir/src/benchmark_slam.cpp.o
Linking CXX executable /home/further/catkin_ws/devel/lib/dvo_benchmark/benchmark
/home/further/catkin_ws/devel/lib/libdvo_slam.so: undefined reference to `tbb::internal::concurrent_queue_base_v8::internal_push_move(void const*)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/further/catkin_ws/devel/lib/dvo_benchmark/benchmark] Error 1
make[1]: *** [dvo_slam/dvo_benchmark/CMakeFiles/benchmark.dir/all] Error 2
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

if I use rosmake, I'll face the same problem like #40
Can anyone help me?
thanks a lot~

Hello,
I had chance to successfully build the dvo_slam, however it seems not running properly.

1. I compile the code with ROS hydro installed Linux 12.04 precise (not sure whether it matters or not since the code is ROS Fuerte-based)
2. I followed all the instructions in issue #5, but without any success of running the code. When I execute "rosrun dvo_slam camera_keyframe_tracker", it states started camera_tracker..., and then stopped, the [ WARN] [1355131430.132265592]: RGB image size has changed, resetting tracker!' is not showed, doesn't matter how I change the dynamic reconfigure.
3. rostopic seems not running right when I try to echo them, it gets a similar results as #5 , but a worse rqt graph.

This is probably a fundamental issue, but I still cannot get this sorted, I have no idea where did it go wrong. Can possibly provide any suggestion to get this running?

Hi, Im looking to reproduce the results from your paper "Dense Visual SLAM for RGB-D Cameras". However i seem to be getting very different results than the paper. For example fr1/room i get

where as the paper gives a rmse error of 0.053 m. I assume there is some sort of settings that i do not have the same as in the paper. Could you provide the settings used in the paper?

Cheers, Johan Ekekrantz

Hi, I am a newbie to ROS. I'm wondering how to bring up the package. I tried
rosrun dvo_ros camera_tracker
along with
rosrun dvo_slam camera_keyframe_tracker
and there were some topics but no /world or /dvo_vis/cloud. When I set target frame to /world, there was a tf error.
Could anyone help me out? Thank you in advance.

Hi,

I would wand to use this SLAM algorithm with an other type of camera and so I was wondering how to change the size for input images (for the case where I use datasets).
I have taken a look at the code, but I don't see where this 640×480 requirement is defined.

With an other size (example 480*480) I have this :

benchmark: /dvo_slam/dvo_core/src/core/rgbd_image.cpp:247: void dvo::core::RgbdCamera::buildPointCloud(const cv::Mat&, dvo::core::PointCloud&) const: Assertion `hasSameSize(depth)' failed.

Why the condition img.cols == width_ && img.rows == height_ would be wrong ?

Thanks

[ rosmake ] Last 40 lineso_slam: 16.0 sec ] [ 1 Active 74/75 Complete ]
{-------------------------------------------------------------------------------
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_slam.dir/src/camera_keyframe_tracking.cpp.o] Error 1
In file included from /home/raman/rosbuild_ws1/package_dir/dvo_slam/g2o/include/g2o/core/block_solver.h:189:0,
from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/src/keyframe_graph.cpp:50:
/home/raman/rosbuild_ws1/package_dir/dvo_slam/g2o/include/g2o/core/block_solver.hpp: In instantiation of ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’:
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/src/keyframe_graph.cpp:942:1: required from here
/home/raman/rosbuild_ws1/package_dir/dvo_slam/g2o/include/g2o/core/block_solver.hpp:198:5: error: request for member ‘resize’ in ‘schurMatrixLookup->g2o::SparseBlockMatrixHashMap::blockCols<Eigen::Matrix<double, 6, 6> >()’, which is of non-class type ‘int’
schurMatrixLookup->blockCols().resize(_Hschur->blockCols().size());
^
In file included from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/rgbd_image.h:29:0,
from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/include/dvo_slam/local_map.h:26,
from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/include/dvo_slam/keyframe_graph.h:25,
from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/src/keyframe_graph.cpp:21:
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_graph.cpp.o] Error 1
In file included from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/rgbd_image.h:29:0,
from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/include/dvo_slam/keyframe_tracker.h:24,
from /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/src/keyframe_tracker.cpp:28:
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_tracker.cpp.o] Error 1
make[3]: Leaving directory /home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/raman/rosbuild_ws1/package_dir/dvo_slam/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to:
[ rosmake ] /home/raman/.ros/rosmake/rosmake_output-20150624-144514/dvo_slam/build_output.log
[rosmake-2] Finished <<< dvo_slam [FAIL] [ 16.02 seconds ]
[ rosmake ] Halting due to failure in package dvo_slam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 75 packages with 1 failures.
[ rosmake ] Summary output to directory

I think the main provlem is
g2o::SparseBlockMatrixHashMap::blockCols<Eigen::Matrix<double, 6, 6> >()’, which is of non-class type ‘int’
schurMatrixLookup->blockCols().resize(_Hschur->blockCols().size());

I looked at other discussions here and solution for fuerte was sudo apt-get install ros-indigo-libg2o libqglviewer-qt4-dev

I am on indigo. I tried the instructions but it fails on me:

raman@raman-ubuntu:~/rosbuild_ws1/package_dir$ sudo apt-get install ros-indigo-libg2o libqglviewer-qt4-dev
Reading package lists... Done
Building dependency tree
Reading state information... Done
Package libqglviewer-qt4-dev is not available, but is referred to by another package.
This may mean that the package is missing, has been obsoleted, or
is only available from another source
However the following packages replace it:
libqglviewer-dev:i386 libqglviewer-dev

E: Package 'libqglviewer-qt4-dev' has no installation candidate

I have libqglviewer installed. but it still gives me the error.. Any way i can resolve this?

Hi.
when i follow issue 5,
type follow command:
roslaunch dvo_benchmark benchmark.launch dataset:=/home/viki/Desktop/rgbd_dataset_freiburg1_desk/ keep_alive:=true

the following errors occurred:
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] }
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] }
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] }

benchmark: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:69: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double, int Size = 16, int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.

[benchmark-2] process has died [pid 2915, exit code -6, cmd /home/viki/hydro_workspace/sandbox/dvo_slam/dvo_benchmark/bin/benchmark

Could anyone help me out? Thank you in advance.

Hi ,all,

I had git-cloned dvo_slam repository. But after I built it by "rosmake", the "Error: no such instruction: `vfnmadd312ss 492(%rdi),%xmm0,%xmm4 " came out as the following　

root@ubuntu:/workshop# rosmake dvo_core dvo_ros dvo_slam dvo_benchmark
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[ rosmake ] Logging to directory /root/.ros/rosmake/rosmake_output-20140907-203402
[ rosmake ] Expanded args ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark'] to:
['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[rosmake-0] Starting >>> opencv2 [ make ]
[rosmake-0] Finished <<< opencv2 ROS_NOBUILD in package opencv2
[rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< std_msgs No Makefile in package std_msgs
[rosmake-0] Starting >>> geometry_msgs [ make ]
[rosmake-0] Finished <<< geometry_msgs No Makefile in package geometry_msgs
[rosmake-0] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< sensor_msgs No Makefile in package sensor_msgs
[rosmake-0] Starting >>> pcl [ make ]
[rosmake-0] Finished <<< pcl ROS_NOBUILD in package pcl
No Makefile in package pcl
[rosmake-0] Starting >>> sophus [ make ]
[rosmake-0] Finished <<< sophus [PASS] [ 51.29 seconds ]
[rosmake-0] Starting >>> common_rosdeps [ make ]
[rosmake-0] Finished <<< common_rosdeps ROS_NOBUILD in package common_rosdeps
[rosmake-0] Starting >>> dvo_core [ make ]
[ rosmake ] Last 40 lineso_core: 15.7 sec ] [ 1 Active 7/43 Complete ]
{-------------------------------------------------------------------------------
/tmp/ccx4PVSe.s:2500: Error: no such instruction: vfnmadd312ss 492(%rdi),%xmm0,%xmm4' /tmp/ccx4PVSe.s:2501: Error: no such instruction:vfnmadd312ss 496(%rdi),%xmm0,%xmm3'
/tmp/ccx4PVSe.s:2503: Error: no such instruction: vfnmadd312ss 500(%rdi),%xmm0,%xmm2' /tmp/ccx4PVSe.s:2506: Error: no such instruction:vfnmadd312ss 480(%rdi),%xmm0,%xmm7'
/tmp/ccx4PVSe.s:2510: Error: no such instruction: vfnmadd312ss 504(%rdi),%xmm0,%xmm1' /tmp/ccx4PVSe.s:2511: Error: no such instruction:vfnmadd312ss 508(%rdi),%xmm0,%xmm6'
/tmp/ccx4PVSe.s:2513: Error: no such instruction: vfnmadd312ss 484(%rdi),%xmm0,%xmm7' /tmp/ccx4PVSe.s:4378: Error: no such instruction:vfnmadd312ss 4(%rsi),%xmm4,%xmm0'
/tmp/ccx4PVSe.s:4499: Error: no such instruction: vfnmadd312ss 16(%rsi),%xmm0,%xmm1' /tmp/ccx4PVSe.s:7320: Error: no such instruction:vfnmadd312ss (%rcx),%xmm0,%xmm0'
/tmp/ccx4PVSe.s:8377: Error: no such instruction: vfnmadd312ss (%rsi),%xmm0,%xmm0' /tmp/ccx4PVSe.s:12613: Error: no such instruction:vfnmadd312ss 24(%rcx,%r11,4),%xmm0,%xmm5'
/tmp/ccx4PVSe.s:12614: Error: no such instruction: vfnmadd312ss 48(%rcx,%r11,4),%xmm0,%xmm4' /tmp/ccx4PVSe.s:12616: Error: no such instruction:vfnmadd312ss 72(%rcx,%r11,4),%xmm0,%xmm3'
/tmp/ccx4PVSe.s:12618: Error: no such instruction: vfnmadd312ss 96(%rcx,%r11,4),%xmm0,%xmm2' /tmp/ccx4PVSe.s:12620: Error: no such instruction:vfnmadd312ss 120(%rcx,%r11,4),%xmm0,%xmm1'
/tmp/ccx4PVSe.s:12686: Error: no such instruction: vfnmadd312ss (%rdx),%xmm1,%xmm0' /tmp/ccx4PVSe.s:13037: Error: no such instruction:vfmadd312ss (%r9),%xmm2,%xmm1'
/tmp/ccx4PVSe.s:13071: Error: no such instruction: vfmadd312ss (%rdx),%xmm2,%xmm1' /tmp/ccx4PVSe.s:13327: Error: no such instruction:vfmadd312ss (%r11),%xmm0,%xmm4'
/tmp/ccx4PVSe.s:13335: Error: no such instruction: vfmadd312ss (%r11,%rbx,4),%xmm0,%xmm3' /tmp/ccx4PVSe.s:13339: Error: no such instruction:vfmadd312ss (%r11,%rbp,4),%xmm0,%xmm2'
/tmp/ccx4PVSe.s:13341: Error: no such instruction: vfmadd312ss (%r11,%r13,4),%xmm0,%xmm1' /tmp/ccx4PVSe.s:13420: Error: no such instruction:vfmadd312ss (%r10),%xmm0,%xmm1'
/tmp/ccx4PVSe.s:14686: Error: no such instruction: vfmadd312ss (%rbx,%r8,4),%xmm5,%xmm4' /tmp/ccx4PVSe.s:14689: Error: no such instruction:vfmadd312ss (%rdi,%r8,4),%xmm5,%xmm3'
/tmp/ccx4PVSe.s:14691: Error: no such instruction: vfmadd312ss (%r11,%r8,4),%xmm5,%xmm2' /tmp/ccx4PVSe.s:14693: Error: no such instruction:vfmadd312ss (%r10,%r8,4),%xmm5,%xmm1'
/tmp/ccx4PVSe.s:14855: Error: no such instruction: vfmadd312ss (%r11,%rsi,4),%xmm5,%xmm0' /tmp/ccx4PVSe.s:17441: Error: no such instruction:vfmadd312ss (%rax,%r11,4),%xmm5,%xmm1'
/tmp/ccx4PVSe.s:17512: Error: no such instruction: vfmadd312ss (%rax,%r11,4),%xmm5,%xmm1' /tmp/ccx4PVSe.s:17570: Error: no such instruction:vfmadd312ss (%rax,%rdx,4),%xmm1,%xmm2'
/tmp/ccx4PVSe.s:17604: Error: no such instruction: vfmadd312ss (%rax,%rdx,4),%xmm1,%xmm2' make[3]: *** [CMakeFiles/dvo_core.dir/src/core/least_squares.o] Error 1 make[3]: Leaving directory/root/workshop/dvo_slam/dvo_core/build'
make[2]: *** [CMakeFiles/dvo_core.dir/all] Error 2
make[2]: Leaving directory /root/workshop/dvo_slam/dvo_core/build' make[1]: *** [all] Error 2 make[1]: Leaving directory/root/workshop/dvo_slam/dvo_core/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_core written to:
[ rosmake ] /root/.ros/rosmake/rosmake_output-20140907-203402/dvo_core/build_output.log
[rosmake-0] Finished <<< dvo_core [FAIL] [ 15.78 seconds ]
[ rosmake ] Halting due to failure in package dvo_core.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 8 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /root/.ros/rosmake/rosmake_output-20140907-203402
root@ubuntu:/workshop#

Could someone suggest me how to fix it?
My system is Ubuntu 12.04(64bit) and ROS Fuerte installed and configured.

Best regards,
Milton

I'm trying to run dvo_slam on the PR2, and it sort-of works, but the robot tilts when moving the camera, e.g. see

It seems the problem is that dvo_slam does not expect the relationship between camera and the base link (odom_combined, in the case of the PR2) to change. I guess with your AUVs, the sensor is fixed, not mounted on a pan-tilt head ;-)

You can see everything I changed at https://github.com/iluetkeb/dvo_slam/compare/groovy-devel -- essentially, I changed I changed all occurences of "base_link_estimate" to "odom_combined", and the occurance of "asus" to the kinect_rgb_frame. There is also a launch file added with some topic remappings to use the Kinect on the PR2.

Would you think that recomputing the transformation between odom_combined and the camera frame every time would be sufficient to publish a correct transform, or are the other places I would have to change?

Hi

I'd like to use your method to estimate the camera trajectory for an augmented reality academic project using structure sensor

Since I'm very new to this field, I went through your code and I found that I have to install ROS and pcl on my MAC, then I figured out that this might nit work on iPad ..

so I'm asking, can I use your method without ROS support ? your dvi_core is OK, but the dvi_slam use ROS, can I replace ROS with some thing else like plc, or any thing ?
if yes, what are the important files should I use ?

also I went through installing Ros_for_IOS from this link https://github.com/introlab/ros_for_ios
but still not able to successfully build it, is that ROS will work with your method

Many thanks for your great work , and your future help

During compiling dvo_slam:

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_slam']
[ rosmake ] Logging to directory /home/slam/.ros/rosmake/rosmake_output-20150126-080109
[ rosmake ] Expanded args ['dvo_slam'] to:
['dvo_slam']
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-1] Starting >>> g2o [ make ]
[rosmake-2] Starting >>> rosservice [ make ]
[rosmake-0] Finished <<< roslang No Makefile in package roslang
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-2] Finished <<< rosservice No Makefile in package rosservice
[rosmake-2] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< roscpp No Makefile in package roscpp
[rosmake-0] Starting >>> geometry_msgs [ make ]
[rosmake-2] Finished <<< rospy No Makefile in package rospy
[rosmake-2] Starting >>> dynamic_reconfigure [ make ]
[rosmake-2] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
[rosmake-0] Finished <<< geometry_msgs No Makefile in package geometry_msgs
[rosmake-2] Starting >>> rosbuild [ make ]
[rosmake-0] Starting >>> sensor_msgs [ make ]
[rosmake-2] Finished <<< rosbuild No Makefile in package rosbuild
[rosmake-2] Starting >>> roslib [ make ]
[rosmake-0] Finished <<< sensor_msgs No Makefile in package sensor_msgs
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-2] Finished <<< roslib No Makefile in package roslib
[rosmake-0] Finished <<< rosconsole No Makefile in package rosconsole
[rosmake-2] Starting >>> message_filters [ make ]
[rosmake-0] Starting >>> pluginlib [ make ]
[rosmake-0] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
[rosmake-0] Starting >>> opencv2 [ make ]
[rosmake-0] Finished <<< opencv2 ROS_NOBUILD in package opencv2
[rosmake-0] Starting >>> cv_bridge [ make ]
[rosmake-0] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
[rosmake-0] Starting >>> std_msgs [ make ]
[rosmake-2] Finished <<< message_filters No Makefile in package message_filters
[rosmake-2] Starting >>> image_transport [ make ]
[rosmake-0] Finished <<< std_msgs No Makefile in package std_msgs
[rosmake-0] Starting >>> pcl [ make ]
[rosmake-2] Finished <<< image_transport ROS_NOBUILD in package image_transport
[rosmake-2] Starting >>> sophus [ make ]
[rosmake-0] Finished <<< pcl ROS_NOBUILD in package pcl
No Makefile in package pcl
[rosmake-0] Starting >>> common_rosdeps [ make ]
[rosmake-0] Finished <<< common_rosdeps ROS_NOBUILD in package common_rosdeps
[rosmake-0] Starting >>> bond [ make ]
[rosmake-0] Finished <<< bond ROS_NOBUILD in package bond
[rosmake-0] Starting >>> smclib [ make ]
[rosmake-0] Finished <<< smclib ROS_NOBUILD in package smclib
[rosmake-0] Starting >>> bondcpp [ make ]
[rosmake-0] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
[rosmake-0] Starting >>> nodelet [ make ]
[rosmake-0] Finished <<< nodelet ROS_NOBUILD in package nodelet
[rosmake-0] Starting >>> bullet [ make ]
[rosmake-0] Finished <<< bullet ROS_NOBUILD in package bullet
[rosmake-0] Starting >>> angles [ make ]
[rosmake-0] Finished <<< angles ROS_NOBUILD in package angles
[rosmake-0] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< rostest No Makefile in package rostest
[rosmake-0] Starting >>> roswtf [ make ]
[rosmake-0] Finished <<< roswtf No Makefile in package roswtf
[rosmake-0] Starting >>> tf [ make ]
[rosmake-0] Finished <<< tf ROS_NOBUILD in package tf
[rosmake-0] Starting >>> orocos_kdl [ make ]
[rosmake-0] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdl
[rosmake-0] Starting >>> python_orocos_kdl [ make ]
[rosmake-0] Finished <<< python_orocos_kdl ROS_NOBUILD in package python_orocos_kdl
[rosmake-0] Starting >>> kdl [ make ]
[rosmake-0] Finished <<< kdl ROS_NOBUILD in package kdl
No Makefile in package kdl
[rosmake-0] Starting >>> tf_conversions [ make ]
[rosmake-0] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions
[rosmake-0] Starting >>> eigen_conversions [ make ]
[rosmake-0] Finished <<< eigen_conversions ROS_NOBUILD in package eigen_conversions
[rosmake-0] Starting >>> rosbag [ make ]
[rosmake-0] Finished <<< rosbag No Makefile in package rosbag
[rosmake-0] Starting >>> nodelet_topic_tools [ make ]
[rosmake-0] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools
[rosmake-0] Starting >>> pcl_ros [ make ]
[rosmake-0] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros
[rosmake-0] Starting >>> visualization_msgs [ make ]
[rosmake-0] Finished <<< visualization_msgs No Makefile in package visualization_msgs
[rosmake-0] Starting >>> interactive_markers [ make ]
[rosmake-0] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers
[rosmake-2] Finished <<< sophus [PASS] [ 0.28 seconds ]
[rosmake-2] Starting >>> dvo_core [ make ]
[rosmake-2] Finished <<< dvo_core [PASS] [ 0.60 seconds ]
[rosmake-2] Starting >>> dvo_ros [ make ]
[rosmake-2] Finished <<< dvo_ros [PASS] [ 1.49 seconds ]
[rosmake-1] Finished <<< g2o [PASS] [ 3.08 seconds ]
[rosmake-1] Starting >>> dvo_slam [ make ]
[ rosmake ] Last 40 lineso_slam: 13.7 sec ] [ 1 Active 41/42 Complete ]
{-------------------------------------------------------------------------------
/opt/ros/fuerte/share/source_ros/dvo_slam/src/keyframe_graph.cpp:762:54: error: expected ‘;’ before ‘v_it’
/opt/ros/fuerte/share/source_ros/dvo_slam/src/keyframe_graph.cpp:762:79: error: ‘v_it’ was not declared in this scope
/opt/ros/fuerte/share/source_ros/dvo_slam/src/keyframe_graph.cpp:762:87: error: ‘vertices’ was not declared in this scope
/opt/ros/fuerte/share/source_ros/dvo_ros/include/dvo_ros/util/util.h: At global scope:
/opt/ros/fuerte/share/source_ros/dvo_ros/include/dvo_ros/util/util.h:51:13: warning: ‘void dvo_ros::util::tryGetTransform(Eigen::Affine3d&, tf::TransformListener&, std::string, std::string, double)’ defined but not used [-Wunused-function]
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
make[3]: *** [CMakeFiles/dvo_slam.dir/src/camera_keyframe_tracking.o] Error 1
make[3]: *** Waiting for unfinished jobs....
In file included from /opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/block_solver.h:189:0,
from /opt/ros/fuerte/share/source_ros/dvo_slam/src/keyframe_graph.cpp:50:
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/block_solver.hpp: In member function ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’:
/opt/ros/fuerte/share/source_ros/dvo_slam/src/keyframe_graph.cpp:942:1: instantiated from here
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/block_solver.hpp:198:5: error: request for member ‘resize’ in ‘schurMatrixLookup->g2o::SparseBlockMatrixHashMap::blockCols with MatrixType = Eigen::Matrix<double, 6, 6>’, which is of non-class type ‘int’
In file included from /opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/sparse_block_matrix.h:228:0,
from /opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/sparse_optimizer.h:33,
from /opt/ros/fuerte/share/source_ros/dvo_slam/include/dvo_slam/local_map.h:24,
from /opt/ros/fuerte/share/source_ros/dvo_slam/include/dvo_slam/keyframe_graph.h:25,
from /opt/ros/fuerte/share/source_ros/dvo_slam/src/keyframe_graph.cpp:21:
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/sparse_block_matrix.hpp: In member function ‘void g2o::SparseBlockMatrix::takePatternFromHash(g2o::SparseBlockMatrixHashMap&) [with MatrixType = Eigen::Matrix<double, 6, 6>]’:
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/block_solver.hpp:287:3: instantiated from ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’
/opt/ros/fuerte/share/source_ros/dvo_slam/src/keyframe_graph.cpp:942:1: instantiated from here
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/sparse_block_matrix.hpp:631:73: error: no type named ‘SparseColumn’ in ‘class g2o::SparseBlockMatrixHashMap<Eigen::Matrix<double, 6, 6> >’
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/sparse_block_matrix.hpp:632:21: error: request for member ‘size’ in ‘(& hashMatrix)->g2o::SparseBlockMatrixHashMap::blockCols with MatrixType = Eigen::Matrix<double, 6, 6>’, which is of non-class type ‘int’
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h: At global scope:
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_tracker.o] Error 1
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/sparse_block_matrix_ccs.h: In member function ‘MatrixType* g2o::SparseBlockMatrixHashMap::addBlock(int, int, bool) [with MatrixType = Eigen::Matrix<double, 6, 6>]’:
/opt/ros/fuerte/share/source_ros/g2o/include/g2o/core/sparse_block_matrix_ccs.h:268:7: warning: control reaches end of non-void function [-Wreturn-type]
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h: At global scope:
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
/opt/ros/fuerte/share/source_ros/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_graph.o] Error 1
make[3]: Leaving directory /opt/ros/fuerte/share/source_ros/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/opt/ros/fuerte/share/source_ros/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/opt/ros/fuerte/share/source_ros/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to:
[ rosmake ] /home/slam/.ros/rosmake/rosmake_output-20150126-080109/dvo_slam/build_output.log
[rosmake-1] Finished <<< dvo_slam [FAIL] [ 13.74 seconds ]
[ rosmake ] Halting due to failure in package dvo_slam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 42 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/slam/.ros/rosmake/rosmake_output-20150126-080109

Could you help me with it?

In KeyframeGraphImpl::ValidateConstraintProposalReduction,
I set 'debut = ture' as
validator()->validate(proposals, ture);

and I got the message like below:
Proposal 118->120 reject
OdometryConstraint 0
NaNResult 0
ConstraintRatio 0.720339 >= 0.3
TrackingResultValidation 0.0361462 >= 0.7
CrossValidation 0.0255714 <= 1

So, I guess it is a problem of TrackingResultValidation.
This caused DVO_SLAM didn't add any constraints even a loop closure.

I am running dataset: rgbd_dataset_freiburg3_long_office_household, with
'rosrun dvo_slam camera_keyframe_tracker.'

Is there any parameter can resolve this problem?
Thanks,

Hi, Im trying to run the benchmark data(here on rgbd_dataset_freiburg1_room) but I keep getting error messages like this:

addVertex: FATAL, a vertex with (negative) ID -5 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -4 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -3 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -2 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -1 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -9 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -8 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -7 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -6 cannot be inserted in the graph

benchmark: /home/johane/fuerte_workspace/sandbox/dvo_slam/dvo_slam/src/keyframe_graph.cpp:734: void dvo_slam::internal::KeyframeGraphImpl::addGraph(g2o::OptimizableGraph*): Assertion `v' failed.

From a little bit of debugging it seems like line 764 in keyframe_graph.cpp is the place where the negative numbers are produced. Any help on resolving this issue would be greatly appreciated!

Cheers, Johan Ekekrantz

Hello

I'm interested in your approach and I'd like to make your project successfully run
but I'm a MAC developer and I don't have ros
if it's possible to run your approach without ros ?
I mean how can I edit in your dvo-slam to not use ros library

I have tried to build ros several times but with no success
that's why I want to skip ros if it's possible

I really appreciate your help

Ubuntu 12.04 LTS
ROS Groovy
PCL 1.7

I've been able to resolve many of the errors received after running "rosmake dvo_core dvo_ros dvo_slam dvo_benchmark"; however, I cannot seem to resolved this undefined reference.

.....
.....
.....
[rosmake-1] Starting >>> dvo_core [ make ]
[rosmake-1] Finished <<< dvo_core [PASS] [ 3.09 seconds ]
[rosmake-1] Starting >>> dvo_ros [ make ]
[ rosmake ] Last 40 lineso_ros: 5.3 sec ] [ 1 Active 63/64 Complete ]
{-------------------------------------------------------------------------------
cd build && make -j4 -l4
make[1]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[2]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 16%] Generating ../cfg/cpp/dvo_ros/dvoConfig.h, ../docs/dvoConfig.dox, ../docs/dvoConfig-usage.dox, ../src/dvo_ros/cfg/dvoConfig.py, ../docs/dvoConfig.wikidoc make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
[ 16%] Built target ROSBUILD_gencfg_cpp
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
[ 16%] Built target rospack_gencfg
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
make[3]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
[ 16%] [ 16%] Built target rospack_gencfg_real
Built target rospack_genmsg_libexe
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
[ 16%] Built target rosbuild_precompile
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
[ 66%] Built target dvo_ros
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
make[3]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
make[3]: Entering directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' [ 83%] Linking CXX executable ../bin/camera_tracker Built target camera_tracker_nodelet /home/rpslaptop32/ros_workspace/dvo_slam/dvo_core/lib/libdvo_visualization.so: undefined reference topcl::visualization::PCLVisualizer::createActorFromVTKDataSet(vtkSmartPointer const&, vtkSmartPointer&, bool)'
collect2: ld returned 1 exit status
make[3]: *** [../bin/camera_tracker] Error 1
make[3]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build' make[2]: *** [CMakeFiles/camera_tracker.dir/all] Error 2 make[2]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/rpslaptop32/ros_workspace/dvo_slam/dvo_ros/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_ros written to:
[ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131014-143950/dvo_ros/build_output.log
[rosmake-1] Finished <<< dvo_ros [FAIL] [ 5.34 seconds ]
[ rosmake ] Halting due to failure in package dvo_ros.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 64 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131014-143950

Any help would be much appreciated. I've updated all of the CMakeLists.txt to have

find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

and added ${PCL_LIBRARIES} to the TARGET_LINK_LIBRARIES.

Thanks in advance!
Lynn

hi.
i run rosmake and i think i have some problem with some packages:

des@des:~/W/dvo_slam$ rosmake dvo_core dvo_ros dvo_slam dvo_benchmark
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[ rosmake ] Logging to directory /home/des/.ros/rosmake/rosmake_output-20161004-204709
[ rosmake ] Expanded args ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark'] to:
['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[rosmake-0] Starting >>> sophus [ make ]
[rosmake-1] Starting >>> dvo_core [ make ]
[rosmake-2] Starting >>> catkin [ make ]
[rosmake-3] Starting >>> dvo_ros [ make ]
[rosmake-2] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-2] Starting >>> rosgraph [ make ]
[rosmake-2] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-2] Starting >>> genmsg [ make ]
[rosmake-2] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-2] Starting >>> genpy [ make ]
[rosmake-2] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-2] Starting >>> rospy [ make ]
[rosmake-1] Finished <<< dvo_core [SKIP] No rule to make target None
[rosmake-1] Starting >>> g2o [ make ]
[rosmake-0] Finished <<< sophus [SKIP] No rule to make target None
[rosmake-0] Starting >>> dvo_slam [ make ]
[rosmake-2] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-2] Starting >>> nodelet [ make ]
[rosmake-3] Finished <<< dvo_ros [SKIP] No rule to make target None
[rosmake-3] Starting >>> dvo_benchmark [ make ]
[rosmake-2] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-0] Finished <<< dvo_slam [SKIP] No rule to make target None
[rosmake-1] Finished <<< g2o [SKIP] No rule to make target None
[rosmake-3] Finished <<< dvo_benchmark [SKIP] No rule to make target None
[ rosmake ] Results:
[ rosmake ] Built 12 packages with 0 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/des/.ros/rosmake/rosmake_output-20161004-204709

any help ?

Hi

I been trying to build dvo_slam as per the instruction, however am currently stuck with dvo_core package.

I was presented with the following error message

    [rosbuild] Building package dvo_core Failed to invoke /opt/ros/hydro/bin/rospack deps-manifests dvo_core
    [rospack] Error: package/stack 'dvo_core' depends on non-existent package 'pcl' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'

    CMake Error at /opt/ros/hydro/share/ros/core/rosbuild/public.cmake:129 (message):

   Failed to invoke rospack to get compile flags for package 'dvo_core'.  Look above for errors from rospack itself.  Aborting.  Please fix the broken  dependency!

PCl have been installed on by system as per instructed on pcl's site.

I have tried locating the cmake file which configures the directory for PCL but came up empty handed. Perhaps you could point me in the right direction?

Lastly, I understand that the current release is written for Fuerte, do you think there could be issues with Hydro?

Thanks

Hi, is it possible to run this on windows, without ROS?

Thanks!

Hi, I tried compiling the new jade-devel branch on indigo (Ubuntu 14.04), since the openni and openni2 packages are still missing in jade. However, I get the following error:

Linking CXX executable /home/tim/catkin_ws/devel/lib/dvo_benchmark/benchmark
/home/tim/catkin_ws/devel/lib/libdvo_visualization.so: undefined reference to `pcl::ApproximateVoxelGridpcl::PointXYZRGB::applyFilter(pcl::PointCloudpcl::PointXYZRGB&)'
collect2: error: ld returned 1 exit status

Does anybody have an idea what's causing this? Wrong version of PCL perhaps?

Ubuntu 12.04 LTS
ROS Groovy
PCL 1.7

I hit another issue after resolving Issue #1 and was able to resolve it by installing libsuitesparse-dev and all of it's dependent packages. Now, I'm stuck with the following undefined references after running "rosmake dvo_core dvo_ros dvo_slam dvo_benchmark".

...
...
...
[rosmake-1] Starting >>> dvo_core [ make ]
[rosmake-3] Finished <<< g2o [PASS] [ 2.91 seconds ]
[rosmake-1] Finished <<< dvo_core [PASS] [ 3.37 seconds ]
[rosmake-1] Starting >>> dvo_ros [ make ]
[rosmake-1] Finished <<< dvo_ros [PASS] [ 3.12 seconds ]
[rosmake-1] Starting >>> dvo_slam [ make ]
[ rosmake ] Last 40 lineso_slam: 65.7 sec ] [ 1 Active 65/67 Complete ]
{-------------------------------------------------------------------------------
[ 81%] Building CXX object CMakeFiles/dvo_slam.dir/src/serialization/map_serializer.cpp.o
[ 86%] Building CXX object CMakeFiles/dvo_slam.dir/src/constraints/constraint_proposal_validator.cpp.o
[ 90%] Building CXX object CMakeFiles/dvo_slam.dir/src/visualization/graph_visualizer.cpp.o
[ 95%] Building CXX object CMakeFiles/dvo_slam.dir/src/types.cpp.o
/home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/src/visualization/graph_visualizer.cpp: In member function ‘void dvo_slam::visualization::internal::GraphVisualizerImpl::onEdgeDeleteClick(const FeedbackConstPtr&)’:
/home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/src/visualization/graph_visualizer.cpp:154:28: warning: unused variable ‘edge’ [-Wunused-variable]
Linking CXX shared library ../lib/libdvo_slam.so
make[3]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/build' [ 95%] Built target dvo_slam make[3]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/build'
Scanning dependencies of target camera_keyframe_tracker
make[3]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/build' make[3]: Entering directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/build'
[100%] Building CXX object CMakeFiles/camera_keyframe_tracker.dir/src/camera_keyframe_tracker_node.cpp.o
Linking CXX executable ../bin/camera_keyframe_tracker
../lib/libdvo_slam.so: undefined reference to g2o::csparse_extension::cs_chol_workspace(cs_di_sparse const*, cs_di_symbolic const*, int*, double*)' ../lib/libdvo_slam.so: undefined reference tocs_di_pinv'
../lib/libdvo_slam.so: undefined reference to cs_di_nfree' ../lib/libdvo_slam.so: undefined reference tocs_di_symperm'
../lib/libdvo_slam.so: undefined reference to g2o::csparse_extension::writeCs2Octave(char const*, cs_di_sparse const*, bool)' ../lib/libdvo_slam.so: undefined reference tocs_di_post'
../lib/libdvo_slam.so: undefined reference to cs_di_etree' ../lib/libdvo_slam.so: undefined reference tocs_di_counts'
../lib/libdvo_slam.so: undefined reference to g2o::csparse_extension::cs_cholsolsymb(cs_di_sparse const*, double*, cs_di_symbolic const*, double*, int*)' ../lib/libdvo_slam.so: undefined reference tocs_di_sfree'
../lib/libdvo_slam.so: undefined reference to cs_di_spfree' ../lib/libdvo_slam.so: undefined reference tocs_di_amd'
../lib/libdvo_slam.so: undefined reference to cs_di_cumsum' ../lib/libdvo_slam.so: undefined reference tocs_di_schol'
../lib/libdvo_slam.so: undefined reference to cs_di_calloc' ../lib/libdvo_slam.so: undefined reference tocs_di_malloc'
../lib/libdvo_slam.so: undefined reference to cs_di_free' collect2: ld returned 1 exit status make[3]: *** [../bin/camera_keyframe_tracker] Error 1 make[3]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/build'
make[2]: *** [CMakeFiles/camera_keyframe_tracker.dir/all] Error 2
make[2]: Leaving directory /home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/build' make[1]: *** [all] Error 2 make[1]: Leaving directory/home/rpslaptop32/ros_workspace/dvo_slam/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to:
[ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131015-111229/dvo_slam/build_output.log
[rosmake-1] Finished <<< dvo_slam [FAIL] [ 65.75 seconds ]
[ rosmake ] Halting due to failure in package dvo_slam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 66 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/rpslaptop32/.ros/rosmake/rosmake_output-20131015-111229

Again, any help would be much appreciated. The dvo_slam's CMakeLists.txt already has

target_link_libraries(${PROJECT_NAME}
g2o_core
g2o_solver_dense
g2o_solver_csparse
g2o_csparse_extension
csparse
g2o_types_slam3d
)

Maybe it's missing some?

Thanks in advance!
Lynn

I'm working on getting dvo_slam running on ROS indigo with Ubuntu 14.04 with an Asus Xtion Pro Live. I've worked through all the compilation errors and got dvo_slam seemingly working (though the dvo_vis topics still aren't producing anything). Anyway, it's producing /pose messages that seem reasonable (hovers around 0,0,0 since the device is just sitting on my table):

header:
seq: 174
stamp:
secs: 1411423061
nsecs: 610369675
frame_id: base_link_estimate
pose:
pose:
position:
x: 0.193051555302
y: -0.0157469765671
z: 0.0714707661636
orientation:
x: 0.0692083399856
y: -0.0768862753495
z: 0.0798834092357
w: 0.991421881576
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

However, if I start moving the camera around, dvo_slam seg faults. Here's the backtrace:

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fffb1b3a700 (LWP 16908)]
dvo_slam::internal::KeyframeGraphImpl::insertNewKeyframe (this=this@entry=0x9433a0, m=...)
at /usr/include/c++/4.8/bits/stl_set.h:299
299 { return _M_t.begin(); }
(gdb) bt
#0 dvo_slam::internal::KeyframeGraphImpl::insertNewKeyframe (this=this@entry=0x9433a0, m=...)

at /usr/include/c++/4.8/bits/stl_set.h:299

#1 0x00007ffff73afe91 in dvo_slam::internal::KeyframeGraphImpl::newKeyframe (this=this@entry=0x9433a0, map=...)

at /home/jefftee/Develop/drone_ws/src/dvo_slam/dvo_slam/src/keyframe_graph.cpp:449

#2 0x00007ffff73b0726 in dvo_slam::internal::KeyframeGraphImpl::execOptimization (this=0x9433a0)

at /home/jefftee/Develop/drone_ws/src/dvo_slam/dvo_slam/src/keyframe_graph.cpp:422

#3 0x00007ffff739087d in operator() (p=, this=0x7fffb21cbfe8)

at /usr/include/boost/bind/mem_fn_template.hpp:49

#4 operator()<boost::_mfi::mf0<void, dvo_slam::internal::KeyframeGraphImpl>, boost::_bi::list0> (

a=<synthetic pointer>, f=..., this=0x7fffb21cbff8) at /usr/include/boost/bind/bind.hpp:253

#5 operator() (this=0x7fffb21cbfe8) at /usr/include/boost/bind/bind_template.hpp:20
#6 tbb::internal::thread_closure_0<boost::_bi::bind_t<void, boost::_mfi::mf0<void, dvo_slam::internal::KeyframeGraphImpl>, boost::_bi::list1boost::_bi::value<dvo_slam::internal::KeyframeGraphImpl* > > >::start_routine (

c=0x7fffb21cbfe8) at /usr/include/tbb/tbb_thread.h:90

#7 0x00007ffff5daa182 in start_thread (arg=0x7fffb1b3a700) at pthread_create.c:312
#8 0x00007ffff6b25fbd in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:111

I think I've narrowed it down to this line in keyframe_graph.cpp:

g2o::OptimizableGraph::EdgeSet::iterator e = std::find_if(last_kv->edges().begin(), last_kv->edges().end(), FindEdge(next_keyframe_id_ - 1, next_odometry_vertex_id_));

Thanks.

Hi,
when I run the algorithm, I get the following error repeatedly:

adding 0 new constraints
int g2o::csparse_extension::cs_cholsolsymb(const cs_di_, double_, const cs_dis_, double_, int*): cholesky failed!
Cholesky failure, writing debug.txt (Hessian loadable by Octave)

I am running ubuntu 13.04, ROS hydro.

Debug.txt: https://dl.dropboxusercontent.com/u/8948006/debug.txt

Regards
Aswin

while building dvo_slam using the command "rosmake dvo_core dvo_ros dvo_slam dvo_benchmark". The system froze while building dvo_slam, 74/76 item completed.

I'm wondering what to do before the instruction before visualization.

Is there any launch file to bring up dvo_slam?

I found only one launch file in dvo_benchmark, but it does'nt work with the error below:
Failed to open '/home/y-tanaka/ros/groovy/dvo_slam/assoc.txt'!

• /rosdistro
  o * /rosversion

NODES
/
benchmark (dvo_benchmark/benchmark)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[benchmark-1]: started with pid [29567]
Failed to open '/home/y-tanaka/ros/groovy/dvo_slam/assoc.txt'!
[benchmark-1] process has finished cleanly
log file: /home/y-tanaka/.ros/log/d5b103bc-a50b-11e3-a48c-081196ef0060/benchmark-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Hi, I am interested in this project and want to run it but my current environment is ROS Indigo. I am wondering if you have Indigo version of this code? Or do you have any suggestion about this? Thank you!

Hi,
Is it possible to use dvo_slam in raspbery pi ( running raspbian or ubuntu snappy or anything else ) with kinect connected to it? Will there be problems because raspberry pi is an ARM system ?
kinect can run on raspberry pi using librekinect or openni library.

Thanks

@christiankerl
I created a working hydro branch (built with rosmake) here:
https://github.com/yoshimalucky/dvo_slam/tree/hydro-build-config
(Some errors may occur, but most of them should be solved by apt-get install)

If you can create a branch like hydro-devel from the existing fuerte branch, I can merge the change by sending a pull-request from my-remote/hydro-build-config to origin/hydro-devel.

Dear author,

I have tired to run dvoslam on the sequence captured by myself. I build and run dvoslam by following your instruction. However, when I observe the mapping process by rviz I find the updating rate is intolerably slow, and the program seems to be extremely lagging behind. Moreover, after processes about a hundred frames, my computer will crash because of running out of memory (I have a nice new laptop). It seems that mapping all the raw point clouds might cause this problem, but I'm not sure.

Could you tell me how can I fix this running speed problem? Thanks a lot：）

Hi,

I tried to use g2o::RobustKernelDCS to replace g2o::RobustKernelCauchy to createRobustKernel. When I run "rosmake dvo_slam", there were several errors as follows:

make[3]: Entering directory `/home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/build'

[ 31%] Building CXX object CMakeFiles/dvo_slam.dir/src/keyframe_graph.o

/home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/src/keyframe_graph.cpp: In member function ‘g2o::RobustKernel* dvo_slam::internal::KeyframeGraphImpl::createRobustKernel()’:

/home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/src/keyframe_graph.cpp:916:34: error: expected type-specifier

/home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/src/keyframe_graph.cpp:916:34: error: cannot convert ‘ int* ’ to ‘ g2o::RobustKernel* ’ in initialization

/home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/src/keyframe_graph.cpp:916:34: error: expected ‘,’ or ‘;’

make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_graph.o] Error 1
make[3]: Leaving directory /home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/islab511/Desktop/ljw_dvo/dvo_slam-fuerte/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to:
[ rosmake ] /home/islab511/.ros/rosmake/rosmake_output-20150604-181250/dvo_slam/build_output.log
[rosmake-2] Finished <<< dvo_slam [FAIL] [ 7.97 seconds ]
[ rosmake ] Halting due to failure in package dvo_slam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 42 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/islab511/.ros/rosmake/rosmake_output-20150604-181250

And I found that we cannot modify the code of 'g2o'. If I modify the code of 'g2o', in the next compiling the code return to the original. I have no idea with these problem. Please help me!

Thanks.

I've been trying to get the dvo_slam code to work using ROS Indigo but have been running into problems. When the "rosmake dvo_core dvo_ros dvo_slam dvo_benchmark" command is called I get the following errors:

Linking CXX executable /home/cig/rosbuild_ws/package_dir/dvo_slam/g2o/g2o_src/bin/g2o_viewer
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/libQGLViewer.so: undefined reference to gluNewQuadric' /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/libQGLViewer.so: undefined reference togluUnProject'
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/libQGLViewer.so: undefined reference to gluCylinder' /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/libQGLViewer.so: undefined reference togluPickMatrix'
/usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/libQGLViewer.so: undefined reference to gluSphere' /usr/lib/gcc/x86_64-linux-gnu/4.8/../../../x86_64-linux-gnu/libQGLViewer.so: undefined reference togluProject'
collect2: error: ld returned 1 exit status

It only occurs when we try to make dvo_slam and dvo_benchmark.

as the title

raman@raman-ubuntu:~/catkin_ws/src/dvo_slam$ rosmake -r dvo_core dvo_ros dvo_slam dvo_benchmark
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[ rosmake ] Logging to directory /home/raman/.ros/rosmake/rosmake_output-20160613-115235
[ rosmake ] Expanded args ['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark'] to:
['dvo_core', 'dvo_ros', 'dvo_slam', 'dvo_benchmark']
[rosmake-0] Starting >>> dvo_core [ make ]
[rosmake-1] Starting >>> catkin [ make ]
[rosmake-2] Starting >>> g2o [ make ]
[rosmake-1] Finished <<< catkin ROS_NOBUILD in package catkin] [ g2o: 0.... [ 3 Active 0/71 Complete ]
No Makefile in package catkin
[rosmake-1] Starting >>> genmsg [ make ]
[rosmake-1] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-1] Starting >>> genlisp [ make ]
[rosmake-7] Starting >>> cpp_common [ make ]
[rosmake-7] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-6] Starting >>> genpy [ make ]
[rosmake-4] Starting >>> rostime [ make ]
[rosmake-7] Starting >>> gencpp [ make ]
[rosmake-3] Starting >>> cmake_modules [ make ]
[rosmake-5] Starting >>> roslang [ make ]
[rosmake-1] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-1] Starting >>> xmlrpcpp [ make ]
[rosmake-6] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-6] Starting >>> smclib [ make ]
[rosmake-3] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules
No Makefile in package cmake_modules
[rosmake-7] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-5] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-7] Starting >>> message_generation [ make ]
[rosmake-3] Starting >>> rospack [ make ]
[rosmake-4] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-5] Starting >>> class_loader [ make ]
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-4] Starting >>> roscpp_traits [ make ]
[rosmake-6] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-6] Starting >>> rosgraph [ make ]
[rosmake-1] Starting >>> rosclean [ make ]
[rosmake-7] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-7] Starting >>> angles [ make ]
[rosmake-4] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-4] Starting >>> roscpp_serialization [ make ]
[rosmake-6] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-6] Starting >>> rosparam [ make ]
[rosmake-7] Finished <<< angles ROS_NOBUILD in package angles
No Makefile in package angles
[rosmake-1] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-7] Starting >>> rosmaster [ make ]
[rosmake-3] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-5] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-3] Starting >>> roslib [ make ]
[rosmake-5] Starting >>> orocos_kdl [ make ]
[rosmake-4] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-4] Starting >>> message_runtime [ make ]
[rosmake-6] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-3] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-7] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-5] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdl
No Makefile in package orocos_kdl
[rosmake-3] Starting >>> rosunit [ make ]
[rosmake-5] Starting >>> python_orocos_kdl [ make ]
[rosmake-4] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-4] Starting >>> std_msgs [ make ]
[rosmake-6] Starting >>> rosbuild [ make ]
[rosmake-3] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-3] Starting >>> roslz4 [ make ]
[rosmake-4] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-5] Finished <<< python_orocos_kdl ROS_NOBUILD in package python_orocos_kdl
No Makefile in package python_orocos_kdl
[rosmake-4] Starting >>> rosgraph_msgs [ make ]
[rosmake-5] Starting >>> bond [ make ]
[rosmake-3] Finished <<< roslz4 ROS_NOBUILD in package roslz4
No Makefile in package roslz4
[rosmake-6] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
No Makefile in package rosbuild
[rosmake-1] Starting >>> geometry_msgs [ make ]
[rosmake-6] Starting >>> rosconsole [ make ]
[rosmake-3] Starting >>> rosbag_storage [ make ]
[rosmake-7] Starting >>> actionlib_msgs [ make ]
[rosmake-4] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-5] Finished <<< bond ROS_NOBUILD in package bond
No Makefile in package bond
[rosmake-1] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-7] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs
No Makefile in package actionlib_msgs
[rosmake-1] Starting >>> tf2_msgs [ make ]
[rosmake-6] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-5] Starting >>> sensor_msgs [ make ]
[rosmake-7] Starting >>> pluginlib [ make ]
[rosmake-1] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs
No Makefile in package tf2_msgs
[rosmake-6] Starting >>> roscpp [ make ]
[rosmake-3] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage
No Makefile in package rosbag_storage
[rosmake-4] Starting >>> kdl_conversions [ make ]
[rosmake-1] Starting >>> tf2 [ make ]
[rosmake-3] Starting >>> eigen_conversions [ make ]
[rosmake-5] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-5] Starting >>> visualization_msgs [ make ]
[rosmake-4] Finished <<< kdl_conversions ROS_NOBUILD in package kdl_conversions
No Makefile in package kdl_conversions
[rosmake-1] Finished <<< tf2 ROS_NOBUILD in package tf2
No Makefile in package tf2
[rosmake-7] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-5] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs
No Makefile in package visualization_msgs
[rosmake-3] Finished <<< eigen_conversions ROS_NOBUILD in package eigen_conversions
No Makefile in package eigen_conversions
[rosmake-6] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-6] Starting >>> bondcpp [ make ]
[rosmake-7] Starting >>> rosout [ make ]
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-6] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
No Makefile in package bondcpp
[rosmake-7] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-7] Starting >>> roslaunch [ make ]
[rosmake-3] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-1] Starting >>> tf2_py [ make ]
[rosmake-3] Starting >>> nodelet [ make ]
[rosmake-7] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-7] Starting >>> rostest [ make ]
[rosmake-1] Finished <<< tf2_py ROS_NOBUILD in package tf2_py
No Makefile in package tf2_py
[rosmake-7] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-3] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-7] Starting >>> message_filters [ make ]
[rosmake-5] Starting >>> topic_tools [ make ]
[rosmake-6] Starting >>> cv_bridge [ make ]
[rosmake-7] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-7] Starting >>> image_transport [ make ]
[rosmake-5] Finished <<< topic_tools ROS_NOBUILD in package topic_tools
No Makefile in package topic_tools
[rosmake-6] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
No Makefile in package cv_bridge
[rosmake-5] Starting >>> rosbag [ make ]
[rosmake-7] Finished <<< image_transport ROS_NOBUILD in package image_transport
No Makefile in package image_transport
[rosmake-5] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-5] Starting >>> rostopic [ make ]
[rosmake-3] Starting >>> rosmsg [ make ]
[rosmake-5] Finished <<< rostopic ROS_NOBUILD in package rostopic
No Makefile in package rostopic
[rosmake-5] Starting >>> rosnode [ make ]
[rosmake-3] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-3] Starting >>> rosservice [ make ]
[rosmake-5] Finished <<< rosnode ROS_NOBUILD in package rosnode
No Makefile in package rosnode
[rosmake-5] Starting >>> actionlib [ make ]
[rosmake-3] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-3] Starting >>> roswtf [ make ]
[rosmake-5] Finished <<< actionlib ROS_NOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-5] Starting >>> tf2_ros [ make ]
[rosmake-6] Starting >>> dynamic_reconfigure [ make ]
[rosmake-3] Finished <<< roswtf ROS_NOBUILD in package roswtf
No Makefile in package roswtf
[rosmake-5] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros
No Makefile in package tf2_ros
[rosmake-5] Starting >>> tf [ make ]
[rosmake-6] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-5] Finished <<< tf ROS_NOBUILD in package tf
No Makefile in package tf
[rosmake-5] Starting >>> tf_conversions [ make ]
[rosmake-7] Starting >>> interactive_markers [ make ]
[rosmake-5] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions
No Makefile in package tf_conversions
[rosmake-7] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers
No Makefile in package interactive_markers
[rosmake-2] Finished <<< g2o [SKIP] No rule to make target None
[rosmake-0] Finished <<< dvo_core [PASS] [ 1.27 seconds ]
[rosmake-0] Starting >>> dvo_ros [ make ]
[rosmake-0] Finished <<< dvo_ros [PASS] [ 2.22 seconds ]
[rosmake-0] Starting >>> dvo_slam [ make ]
[ rosmake ] Last 40 lineso_slam: 12.5 sec ] [ 1 Active 69/71 Complete ]
{-------------------------------------------------------------------------------
/home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_slam.dir/src/camera_keyframe_tracking.cpp.o] Error 1
In file included from /home/raman/catkin_ws/src/dvo_slam/g2o/include/g2o/core/block_solver.h:189:0,
from /home/raman/catkin_ws/src/dvo_slam/dvo_slam/src/keyframe_graph.cpp:50:
/home/raman/catkin_ws/src/dvo_slam/g2o/include/g2o/core/block_solver.hpp: In instantiation of ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’:
/home/raman/catkin_ws/src/dvo_slam/dvo_slam/src/keyframe_graph.cpp:942:1: required from here
/home/raman/catkin_ws/src/dvo_slam/g2o/include/g2o/core/block_solver.hpp:180:5: error: request for member ‘resize’ in ‘schurMatrixLookup->g2o::SparseBlockMatrixHashMap::blockCols<Eigen::Matrix<double, 6, 6> >()’, which is of non-class type ‘int’
schurMatrixLookup->blockCols().resize(_Hschur->blockCols().size());
^
In file included from /home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/rgbd_image.h:29:0,
from /home/raman/catkin_ws/src/dvo_slam/dvo_slam/include/dvo_slam/keyframe_tracker.h:24,
from /home/raman/catkin_ws/src/dvo_slam/dvo_slam/src/keyframe_tracker.cpp:28:
/home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_tracker.cpp.o] Error 1
In file included from /home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/rgbd_image.h:29:0,
from /home/raman/catkin_ws/src/dvo_slam/dvo_slam/include/dvo_slam/local_map.h:26,
from /home/raman/catkin_ws/src/dvo_slam/dvo_slam/include/dvo_slam/keyframe_graph.h:25,
from /home/raman/catkin_ws/src/dvo_slam/dvo_slam/src/keyframe_graph.cpp:21:
/home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
static const IntensityType Invalid = std::numeric_limits::quiet_NaN();
^
/home/raman/catkin_ws/src/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
static const DepthType InvalidDepth = std::numeric_limits::quiet_NaN();
^
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_graph.cpp.o] Error 1
make[3]: Leaving directory /home/raman/catkin_ws/src/dvo_slam/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/home/raman/catkin_ws/src/dvo_slam/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/raman/catkin_ws/src/dvo_slam/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to:
[ rosmake ] /home/raman/.ros/rosmake/rosmake_output-20160613-115235/dvo_slam/build_output.log
[rosmake-0] Finished <<< dvo_slam [FAIL] [ 12.52 seconds ]
[rosmake-0] Starting >>> dvo_benchmark [ make ]
[rosmake-0] Finished <<< dvo_benchmark Package dvo_benchmark cannot be built for dependent package(s) [u'dvo_slam'] failed.
[ rosmake ] Results:
[ rosmake ] Built 71 packages with 2 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/raman/.ros/rosmake/rosmake_output-20160613-115235

hi,i am a newbie. i followed the installation course to install dvo_slam. when i run "rosmake dvo_core","rosmake dvo_ros"and"rosmake dvo_benchmark",it was successful.but when i run "rosmake dvo_slam",there were several errors as follows:

[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['dvo_slam']
[ rosmake ] Logging to directory /home/exbot/.ros/rosmake/rosmake_output-20140923-151929
[ rosmake ] Expanded args ['dvo_slam'] to:
['dvo_slam']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-1] Starting >>> g2o [ make ]
[rosmake-2] Starting >>> sophus [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkinophus: 0.0 sec ] [ 3 Active 0/75 Complete ]
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-3] Starting >>> console_bridge [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-3] Finished <<< console_bridge ROS_NOBUILD in package console_bridge
No Makefile in package console_bridge
[rosmake-3] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-0] Starting >>> gencpp [ make ]
[rosmake-3] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-3] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-0] Starting >>> message_generation [ make ]
[rosmake-3] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-3] Starting >>> rostime [ make ]
[rosmake-0] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-0] Starting >>> rospack [ make ]
[rosmake-3] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-3] Starting >>> roscpp_traits [ make ]
[rosmake-3] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-3] Starting >>> roscpp_serialization [ make ]
[rosmake-3] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-3] Starting >>> message_runtime [ make ]
[rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-3] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-0] Starting >>> roslib [ make ]
[rosmake-3] Starting >>> std_msgs [ make ]
[rosmake-3] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-3] Starting >>> rosgraph_msgs [ make ]
[rosmake-3] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
No Makefile in package rosbuild
[rosmake-0] Starting >>> rosunit [ make ]
[rosmake-3] Starting >>> roslang [ make ]
[rosmake-3] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-0] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-3] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-3] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-3] Starting >>> rosgraph [ make ]
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-0] Starting >>> roscpp [ make ]
[rosmake-3] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-3] Starting >>> rosparam [ make ]
[rosmake-0] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-3] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-3] Starting >>> rosout [ make ]
[rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-3] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-0] Starting >>> rosclean [ make ]
[rosmake-3] Starting >>> rospy [ make ]
[rosmake-0] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-3] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-0] Starting >>> roslaunch [ make ]
[rosmake-3] Starting >>> rosbag_storage [ make ]
[rosmake-0] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-0] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-0] Starting >>> topic_tools [ make ]
[rosmake-3] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage.0 sec ] [ topic_tools: 0.0 sec ] [ 4 Active 30/75 Complete ]
No Makefile in package rosbag_storage
[rosmake-0] Finished <<< topic_tools ROS_NOBUILD in package topic_tools
No Makefile in package topic_tools
[rosmake-3] Starting >>> geometry_msgs [ make ]
[rosmake-0] Starting >>> rosbag [ make ]
[rosmake-3] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-3] Starting >>> sensor_msgs [ make ]
[rosmake-0] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-0] Starting >>> rosmsg [ make ]
[rosmake-3] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-3] Starting >>> message_filters [ make ]
[rosmake-3] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-0] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-3] Starting >>> class_loader [ make ]
[rosmake-0] Starting >>> rosservice [ make ]
[rosmake-3] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-3] Starting >>> pluginlib [ make ]
[rosmake-0] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-0] Starting >>> dynamic_reconfigure [ make ]
[rosmake-3] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-3] Starting >>> image_transport [ make ]
[rosmake-0] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-0] Starting >>> opencv2 [ make ]
[rosmake-3] Finished <<< image_transport ROS_NOBUILD in package image_transport
No Makefile in package image_transport
[rosmake-3] Starting >>> pcl_msgs [ make ]
[rosmake-0] Finished <<< opencv2 ROS_NOBUILD in package opencv2
No Makefile in package opencv2
[rosmake-0] Starting >>> cv_bridge [ make ]
[rosmake-0] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
No Makefile in package cv_bridge
[rosmake-3] Finished <<< pcl_msgs ROS_NOBUILD in package pcl_msgs
No Makefile in package pcl_msgs
[rosmake-0] Starting >>> smclib [ make ]
[rosmake-3] Starting >>> pcl_conversions [ make ]
[rosmake-0] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-0] Starting >>> bond [ make ]
[rosmake-3] Finished <<< pcl_conversions ROS_NOBUILD in package pcl_conversions
No Makefile in package pcl_conversions
[rosmake-3] Starting >>> actionlib_msgs [ make ]
[rosmake-3] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs
No Makefile in package actionlib_msgs
[rosmake-0] Finished <<< bond ROS_NOBUILD in package bond
No Makefile in package bond
[rosmake-3] Starting >>> rostopic [ make ]
[rosmake-0] Starting >>> bondcpp [ make ]
[rosmake-3] Finished <<< rostopic ROS_NOBUILD in package rostopic
No Makefile in package rostopic
[rosmake-3] Starting >>> rosnode [ make ]
[rosmake-3] Finished <<< rosnode ROS_NOBUILD in package rosnode
No Makefile in package rosnode
[rosmake-3] Starting >>> actionlib [ make ]
[rosmake-0] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
No Makefile in package bondcpp
[rosmake-0] Starting >>> nodelet [ make ]
[rosmake-3] Finished <<< actionlib ROS_NOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-0] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-3] Starting >>> tf2_msgs [ make ]
[rosmake-0] Starting >>> nodelet_topic_tools [ make ]
[rosmake-0] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools
No Makefile in package nodelet_topic_tools
[rosmake-3] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs
No Makefile in package tf2_msgs
[rosmake-3] Starting >>> tf2 [ make ]
[rosmake-0] Starting >>> angles [ make ]
[rosmake-0] Finished <<< angles ROS_NOBUILD in package angles
No Makefile in package angles
[rosmake-3] Finished <<< tf2 ROS_NOBUILD in package tf2
No Makefile in package tf2
[rosmake-3] Starting >>> tf2_py [ make ]
[rosmake-0] Starting >>> roswtf [ make ]
[rosmake-3] Finished <<< tf2_py ROS_NOBUILD in package tf2_py
No Makefile in package tf2_py
[rosmake-0] Finished <<< roswtf ROS_NOBUILD in package roswtf
No Makefile in package roswtf
[rosmake-0] Starting >>> orocos_kdl [ make ]
[rosmake-3] Starting >>> tf2_ros [ make ]
[rosmake-0] Finished <<< orocos_kdl ROS_NOBUILD in package orocos_kdll: 0.0 sec ] [ tf2_ros: 0.0 sec ] [ 4 Active 60/75 Complete ]
No Makefile in package orocos_kdl
[rosmake-3] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros
No Makefile in package tf2_ros
[rosmake-0] Starting >>> kdl_conversions [ make ]
[rosmake-3] Starting >>> tf [ make ]
[rosmake-0] Finished <<< kdl_conversions ROS_NOBUILD in package kdl_conversions
No Makefile in package kdl_conversions
[rosmake-0] Starting >>> python_orocos_kdl [ make ]
[rosmake-3] Finished <<< tf ROS_NOBUILD in package tf
No Makefile in package tf
[rosmake-3] Starting >>> pcl_ros [ make ]
[rosmake-0] Finished <<< python_orocos_kdl ROS_NOBUILD in package python_orocos_kdl
No Makefile in package python_orocos_kdl
[rosmake-0] Starting >>> tf_conversions [ make ]
[rosmake-3] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros
No Makefile in package pcl_ros
[rosmake-3] Starting >>> eigen_conversions [ make ]
[rosmake-0] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions
No Makefile in package tf_conversions
[rosmake-0] Starting >>> visualization_msgs [ make ]
[rosmake-3] Finished <<< eigen_conversions ROS_NOBUILD in package eigen_conversions
No Makefile in package eigen_conversions
[rosmake-0] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs
No Makefile in package visualization_msgs
[rosmake-0] Starting >>> interactive_markers [ make ]
[rosmake-0] Finished <<< interactive_markers ROS_NOBUILD in package interactive_markers
No Makefile in package interactive_markers
[rosmake-2] Finished <<< sophus [PASS] [ 1.26 seconds ]
[rosmake-2] Starting >>> dvo_core [ make ]
[rosmake-2] Finished <<< dvo_core [PASS] [ 6.72 seconds ]
[rosmake-2] Starting >>> dvo_ros [ make ]
[rosmake-1] Finished <<< g2o [PASS] [ 9.53 seconds ]
[rosmake-2] Finished <<< dvo_ros [PASS] [ 5.39 seconds ]
[rosmake-2] Starting >>> dvo_slam [ make ]
[ rosmake ] Last 40 lineso_slam: 23.1 sec ] [ 1 Active 74/75 Complete ]
{-------------------------------------------------------------------------------
from /home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/include/dvo_slam/keyframe_graph.h:25,
from /home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/src/keyframe_graph.cpp:21:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp: In member function ‘void g2o::SparseBlockMatrix::takePatternFromHash(g2o::SparseBlockMatrixHashMap&) [with MatrixType = Eigen::Matrix<double, 6, 6>]’:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/block_solver.hpp:287:3: instantiated from ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/src/keyframe_graph.cpp:942:1: instantiated from here
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:631:73: error: no type named ‘SparseColumn’ in ‘class g2o::SparseBlockMatrixHashMap<Eigen::Matrix<double, 6, 6> >’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:632:21: error: request for member ‘size’ in ‘(& hashMatrix)->g2o::SparseBlockMatrixHashMap::blockCols with MatrixType = Eigen::Matrix<double, 6, 6>’, which is of non-class type ‘int’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/block_solver.hpp:287:3: instantiated from ‘bool g2o::BlockSolver::buildStructure(bool) [with Traits = g2o::BlockSolverTraits<6, 3>]’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/src/keyframe_graph.cpp:942:1: instantiated from here
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:644:7: error: ‘swap’ was not declared in this scope
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix.hpp:644:7: note: suggested alternatives:
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/boost/detail/compressed_pair.hpp:431:1: note: ‘boost::swap’
/usr/include/boost/thread/locks.hpp:1103:14: note: ‘boost::detail::swap’
/usr/include/boost/variant/detail/backup_holder.hpp:86:6: note: ‘boost::detail::variant::swap’
/usr/include/boost/signals2/connection.hpp:239:17: note: ‘boost::signals2::swap’
/usr/include/boost/signals2/detail/auto_buffer.hpp:1080:17: note: ‘boost::signals2::detail::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/stl_deque.h:1971:5: note: ‘std::swap’
/usr/include/c++/4.6/bits/move.h:122:5: note: ‘std::swap’
/opt/ros/hydro/include/opencv2/core/core.hpp:2126:17: note: ‘cv::swap’
/usr/include/tbb/concurrent_vector.h:1053:13: note: ‘tbb::swap’
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_tracker.cpp.o] Error 1
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h: In member function ‘MatrixType* g2o::SparseBlockMatrixHashMap::addBlock(int, int, bool) [with MatrixType = Eigen::Matrix<double, 6, 6>]’:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/g2o/include/g2o/core/sparse_block_matrix_ccs.h:268:7: warning: control reaches end of non-void function [-Wreturn-type]
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h: At global scope:
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:33:28: warning: ‘dvo::core::Invalid’ defined but not used [-Wunused-variable]
/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_core/include/dvo/core/datatypes.h:36:24: warning: ‘dvo::core::InvalidDepth’ defined but not used [-Wunused-variable]
make[3]: *** [CMakeFiles/dvo_slam.dir/src/keyframe_graph.cpp.o] Error 1
make[3]: Leaving directory /home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/build' make[2]: *** [CMakeFiles/dvo_slam.dir/all] Error 2 make[2]: Leaving directory/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/exbot/rosbuild_ws/sandbox/dvo_slam/dvo_slam/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_slam written to:
[ rosmake ] /home/exbot/.ros/rosmake/rosmake_output-20140923-151929/dvo_slam/build_output.log
[rosmake-2] Finished <<< dvo_slam [FAIL] [ 23.06 seconds ]
[ rosmake ] Halting due to failure in package dvo_slam.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 75 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/exbot/.ros/rosmake/rosmake_output-20140923-151929

have someone had the same problems? i need help! thank you very much!
hydro ubuntu 12.04

Hi,

dvo_slam/KeyframeSlamConfig.h is included in several places, but I don't see the header file anywhere. Got "no such file or directory" compile errors. Am I missing something? Thanks!

DVO runs fine on the TUM benchmark. However, as soon as i switch to some other dataset, the SLAM fails to provide any pose. I managed to get it down to depth images.

I create my "own" dataset. My depth files, my rgb files in their respective folders and a assoc.txt file to match them. it fails and results in no pose computed in the output txt file or any error in error file.

However, as soon as i switch the depth files to any depth files picked from the TUM benchmark and change my assoc file to (wrongly) match the rgb files (mine) to depth files (from TUM) i get a pose per frame (except for last frame).

I am at a loss why this is happening. I save my depth files as .png 16 uint . It is monochrome. if i analyze the image info its exactly the same.. my files also have depth values between 0 and max value for uint16 and roughly similar to TUM values.. i can do any math (add/subtract) in MATLAB if i load my depth file and TUM's.

I really cant figure out why DVO fails to read it properly. Is there anything i could try to figure this out? If someone made their dataset to work with DVO, can you share your code to save depth images?

i am currently using MATLAB in windows 7 and use :imwrite(Z_uint16,d_name,'fmt','png','BitDepth',16,'map','gray');

i initially tried the simple versions as well like imwrite(Z_uint16,d_name,'fmt','png',) etc.. but they all dont work with DVO.

Hi

Have been attempting to run the code on a primesense carmine 1.09, without success.

ro@ThinkPad-T440p:~/catkin_ws$ rosrun dvo_ros camera_tracker
[ INFO] [1486660463.631199639]: CameraDenseTracker::ctor(...)
[ INFO] [1486660463.631886922]: reconfigured tracker, config ( First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0, Use Initial Estimate = true, Use Weighting = false, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0 )
[ WARN] [1486660468.802340427]: using identity!
[ INFO] [1486660468.802437216]: transformation: base_link -> asus
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[ INFO] [1486660468.805935735]: started camera_tracker...

The tracker is not finding any results and can't see any cloud in rviz.

My questions:

• do I need to change the code to update / change references to topics?
• do I need to manually setup TF's?

Any help will be more than welcomed.

My steps:
$ roslaunch openni2_launch openni2.launch
$ rosrun dvo_ros camera_tracker
$ rosrun dvo_slam camera_keyframe_tracker
$ rosrun rviz rviz

The publish topics are:

ro@ThinkPad-T440p:~/catkin_ws$ rostopic list
/camera/camera_nodelet_manager/bond
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/image_rect_raw
/camera/depth_registered/points
/camera/depth_registered/sw_registered/camera_info
/camera/depth_registered/sw_registered/image_rect
/camera/depth_registered/sw_registered/image_rect/compressed
/camera/depth_registered/sw_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/sw_registered/image_rect/compressedDepth
/camera/depth_registered/sw_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/sw_registered/image_rect/theora
/camera/depth_registered/sw_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect/theora/parameter_updates
/camera/depth_registered/sw_registered/image_rect_raw
/camera/depth_registered/sw_registered/image_rect_raw/compressed
/camera/depth_registered/sw_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth/parameter_updates
/camera/depth_registered/sw_registered/image_rect_raw/theora
/camera/depth_registered/sw_registered/image_rect_raw/theora/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect_raw/theora/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image
/camera/ir/image/compressed
/camera/ir/image/compressed/parameter_descriptions
/camera/ir/image/compressed/parameter_updates
/camera/ir/image/compressedDepth
/camera/ir/image/compressedDepth/parameter_descriptions
/camera/ir/image/compressedDepth/parameter_updates
/camera/ir/image/theora
/camera/ir/image/theora/parameter_descriptions
/camera/ir/image/theora/parameter_updates
/camera/rectify_color/parameter_descriptions
/camera/rectify_color/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera_keyframe_tracker/slam/parameter_descriptions
/camera_keyframe_tracker/slam/parameter_updates
/camera_keyframe_tracker/tracking/parameter_descriptions
/camera_keyframe_tracker/tracking/parameter_updates
/camera_tracker/parameter_descriptions
/camera_tracker/parameter_updates
/clicked_point
/cloud
/dvo_vis/graph/parameter_descriptions
/dvo_vis/graph/parameter_updates
/dvo_vis/image
/dvo_vis/image/compressed
/dvo_vis/image/compressed/parameter_descriptions
/dvo_vis/image/compressed/parameter_updates
/dvo_vis/image/compressedDepth
/dvo_vis/image/compressedDepth/parameter_descriptions
/dvo_vis/image/compressedDepth/parameter_updates
/dvo_vis/image/theora
/dvo_vis/image/theora/parameter_descriptions
/dvo_vis/image/theora/parameter_updates
/feedback
/image
/image/compressed
/image/compressed/parameter_descriptions
/image/compressed/parameter_updates
/image/compressedDepth
/image/compressedDepth/parameter_descriptions
/image/compressedDepth/parameter_updates
/image/theora
/image/theora/parameter_descriptions
/image/theora/parameter_updates
/initialpose
/move_base_simple/goal
/pelican/pose
/pose
/rgbd/pose
/rosout
/rosout_agg
/tf
/tf_static
/update
/update_full

//RO

where can I find the PoseStampedArray.h?

when I rosmake dvo_benchmark, I got the following errors:

/home/leon/ros/dvo_slam/dvo_slam/include/dvo_slam/serialization/map_serializer.h:27:82: fatal error: dvo_slam/PoseStampedArray.h: No such file or directory

include

^
compilation terminated.
make[3]: *** [CMakeFiles/benchmark.dir/src/benchmark_slam.o] Error 1
make[3]: Leaving directory /home/leon/ros/dvo_slam/dvo_benchmark/build' make[2]: *** [CMakeFiles/benchmark.dir/all] Error 2 make[2]: Leaving directory/home/leon/ros/dvo_slam/dvo_benchmark/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/leon/ros/dvo_slam/dvo_benchmark/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package dvo_benchmark written to:
[ rosmake ] /home/leon/.ros/rosmake/rosmake_output-20140410-183907/dvo_benchmark/build_output.log

[rosmake-7] Finished <<< dvo_benchmark [FAIL] [ 6.58 seconds ]

[ rosmake ] Halting due to failure in package dvo_benchmark.
[ rosmake ] Waiting for other threads to complete.

[ rosmake ] Results:

[ rosmake ] Built 43 packages with 1 failures.

[ rosmake ] Summary output to directory

Thanks a lot in advance.

Hi all,

I had followed the install steps. But came across the following compile error.
https://goo.gl/h5G6JT

Could someone give me some suggestions to fix it?

THX~

PS.
My system is Ubuntu 12.04, ROS Fuerte installed.
I could build dvo package successfully in the same machine, so I think there's something missing while compiling dvo_slam and g2o.

Dear author,

I successfully compile the dvo_slam package in ROS fuerte on Ubuntu 12.04.5. I use the default ROS openni calibration parameters.

I benchmark the dataset "rgbd_dataset_freiburg1_xyz" using the following command,
roslaunch dvo_benchmark benchmark.launch keep_alive:=true
Then I do evaluation using the following command,
rosrun rgbd_benchmark_tools evaluate_ate.py --plot PLOT_ate --verbose assoc_opt_traj_final.txt groundtruth.txt

The results of ATE for fr1/xyz are as follows,
compared_pose_pairs 790 pairs
absolute_translational_error.rmse 0.016561 m
absolute_translational_error.mean 0.014532 m
absolute_translational_error.median 0.013264 m
absolute_translational_error.std 0.007941 m
absolute_translational_error.min 0.000828 m
absolute_translational_error.max 0.049756 m

The results are not accordance with the results presented in your dvo_slam (IROS2013) paper. The RMSE value for fr1/xyz indicated in the Table.III of your paper is 0.011, but I got 0.016561.

Maybe there are some settings I don't have. Could you tell me how to do correct benchmark?

PS: Could you tell me how to find how many key frames that have been set during the SLAM?

Thank you very much.

Hi, I'm a newbie on both SLAM with RGB-D sensors and ROS.

I installed ROS indigo on Ubuntu 14.04, and successfully compiled dvo_slam with its jade_devel branch.

I got an error from ros when I tried to run the benchmark by following #5.
ERROR: cannot launch node of type [dvo_benchmark/benchmark]: can't locate node [benchmark] in package [dvo_benchmark]

I downloaded rgbd_benchmark_tools and dataset from https://github.com/jesusbriales/rgbd_benchmark_tools and https://vision.in.tum.de/data/datasets/rgbd-dataset/download, respectively.

I tried to run the program by running roslaunch dvo_benchmark benchmark.launch keep_alive:=true on the dataset folder where I also built assoc.txt.

The error message is as follows,

... logging to /home/jaehyun/.ros/log/1200da5c-c0cd-11e5-8841-7446a0bb7401/roslaunch-jaehyun-Workstation-9672.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.

started roslaunch server http://jaehyun-Workstation:53798/

SUMMARY
========

PARAMETERS
 * /benchmark/camera_file: /home/jaehyun/ros...
 * /benchmark/coarsest_level: 3
 * /benchmark/constraint_min_entropy_ratio_coarse: 0.03
 * /benchmark/constraint_min_entropy_ratio_fine: 0.6
 * /benchmark/constraint_min_eq_sys_constraint_ratio: 0.3
 * /benchmark/constraint_search_radius: 5.0
 * /benchmark/estimate_trajectory: True
 * /benchmark/finest_level: 1
 * /benchmark/graph_opt_dense_graph: False
 * /benchmark/graph_opt_final: False
 * /benchmark/graph_opt_final_dense_graph: True
 * /benchmark/graph_opt_final_iterations: 1000
 * /benchmark/graph_opt_final_outlier_weight_threshold: 0.1
 * /benchmark/graph_opt_final_remove_outliers: True
 * /benchmark/graph_opt_iterations: 50
 * /benchmark/graph_opt_min_distance: 0
 * /benchmark/graph_opt_outlier_weight_threshold: 0.1
 * /benchmark/graph_opt_remove_outliers: True
 * /benchmark/graph_opt_robust: True
 * /benchmark/groundtruth_file: /home/jaehyun/git...
 * /benchmark/influence_function: 2
 * /benchmark/influence_function_param: 5.0
 * /benchmark/keep_alive: True
 * /benchmark/lambda: 0.0
 * /benchmark/max_iterations: 50
 * /benchmark/max_rotational_distance: 0
 * /benchmark/max_translational_distance: 0.2
 * /benchmark/min_depth_deriv: 0.0
 * /benchmark/min_entropy_ratio: 0.6
 * /benchmark/min_eq_sys_constraint_ratio: 0.3
 * /benchmark/min_intensity_deriv: 0.0
 * /benchmark/mu: 0.05
 * /benchmark/precision: 0.0001
 * /benchmark/reconstruction: True
 * /benchmark/render_video: False
 * /benchmark/rgbdpair_file: /home/jaehyun/git...
 * /benchmark/scale_estimator: 2
 * /benchmark/scale_estimator_param: 5.0
 * /benchmark/show_estimate: True
 * /benchmark/show_groundtruth: False
 * /benchmark/trajectory_file: /home/jaehyun/ros...
 * /benchmark/use_initial_estimate: True
 * /benchmark/use_multithreading: True
 * /benchmark/use_weighting: True
 * /benchmark/video_folder: /home/jaehyun/ros...
 * /rosdistro: indigo
 * /rosversion: 1.11.16

NODES
  / 
    benchmark (dvo_benchmark/benchmark)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
ERROR: cannot launch node of type [dvo_benchmark/benchmark]: can't locate node [benchmark] in package [dvo_benchmark]
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete

Is there anyone who can help me to run dvo_slam?

Thanks

I am trying to run
roslaunch dvo_benchmark benchmark.launch dataset:=/home/{User_name}/rgbdslam_catkin_ws/rgbd_slam_benchmark/rgbd_dataset_freiburg1_360

I am getting the following message . Not sure how to fix the problem .

Any suggestions as to how to fix this ?

setting /run_id to 33e7da16-1ad9-11e5-8102-94103eb8250e
process[rosout-1]: started with pid [23803]
started core service [/rosout]
process[benchmark-2]: started with pid [23815]
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] }
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] }
ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] }
ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" }
ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" }
ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFine: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeightThreshold: 0.1" }
od before modify: 0.173903
od after modify: 0
kf before modify: 0.0299165
kf after modify: 0.0247405
addVertex: FATAL, a vertex with (negative) ID -6 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -5 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -4 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -3 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -2 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -1 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -14 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -13 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -12 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -11 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -10 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -9 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -8 cannot be inserted in the graph
addVertex: FATAL, a vertex with (negative) ID -7 cannot be inserted in the graph
benchmark: /home/{usr_name}/dvo_slam/dvo_slam/src/keyframe_graph.cpp:778: dvo_slam::KeyframePtr dvo_slam::internal::KeyframeGraphImpl::insertNewKeyframe(const Ptr&): Assertion `kv != 0' failed.

@christiankerl
I have tried dvo_slam from: https://github.com/songuke/dvo_slam. I compiled the dvo_slam package in ROS Indigo on Ubuntu 14.04 successfully.
Used TUM RGB-D benchmark, I can see right point clouds and camera positions in rviz.

I Installed Kinect v2 driver according to https://github.com/code-iai/iai_kinect2. I changed the code and then stored the 640*480 resolution of color and depth images, when connected to the hand-hold kinectv2. Used these pictures, I see wrong phenomenon in rviz after runing dvo_slam. In the rivz window, the point clouds is bad and very vague. I don't know why.
Is the picture that I use the hand-hold kinect v2 to create not compatible with dvo_slam?
When shooting objects,dose it have to follow a certain rule?

Can you help me?
thanks a lot~

Hi,

I ported the dvo_slam package to ROS Indigo successfully without any compilation problems. I would like to reproduce the results obtained in "Dense visual slam for RGB-D cameras" for an evaluation framework I am busy working on. I have tried several of the RGB-D benchmark sequences and I get the same error just at different time stamps. The trajectory is estimated succesfully for a few frames and then I receive the follwing error in gdb:

Just to confirm, the assoc.txt file required is just the associate.py script executed on depth.txt and rgb.txt in the sequence folder? The trajectory.txt output shows that the trajectory is estimated for several frames and then just stops. This seems to be the same error as #18 by jefftee.

EDIT 2015/09/24:
The segmentation fault seems to occur at "g2o::VertexSE3* frame_vertex = new g2o::VertexSE3()"; in the "g2o::VertexSE3* addFrameVertex" function in the file "local_map.pp". This error persists even if I use the old g2o framework with the old addFrameVertex function.

Any help would be greatly appreciated.

Thanks

confused the packages. rebuilding properly now