uzh-rpg / rpg_svo_example

Example node to use the SVO Installation.

This repository contains examples to use SVO 2.0 binaries in various configurations:

• monocular
• stereo
• stereo/monocular + IMU
• pinhole/fisheye/catadioptric cameras are supported

For detailed instructions, please refer to the documentation under rpg_svo_example/svo_ros/doc. We provide several launch files under rpg_svo_example/svo_ros/launch for different datasets, including the EuRoC datasets. These can be used as a reference for customization according to specific needs.

To use SVO 2.0 as a binary form, you need to request the binaries of SVO 2.0 from here. The binaries you get already include a copy of this repository, therefore they are self-contained.

This repository will also be used for the following purposes:

• Keep track of the update of the binaries
• Add new launch files and example code to use the binaries

If the binaries are updated, you can download the new version from the original links in the email you received.

ARM binaries: You can replace the file name in the download link with svo_binaries_1404_indigo_armhf.zip to get the link for the armhf binaries.

If you have any problem regarding using SVO 2.0 binaries, you can either start an issue or contact Zichao Zhang (zzhang AT ifi DOT uzh DOT ch).

Binaries changelog

22.01.2018 Update 16.04 binaries to OpenCV 3.3.1

29.09.2017 Add binaries for armhf (14.04 + indigo)

17.07.2017 Initial Release

rpg_svo_example's Issues

Download link is empty

Hi,
Thanks for releasing the exciting academic work, I am glad to test it, but it seems the binary link is empty.

Position calculation problem

Hi . I am using a monocular camera. I move the camera in each three axes about 2meter but the change in topic /pose/camera is very less than 2meter(about 0.4). Should I scale this data by my self?

ICL_NUIM dataset not initialized

I'm using Ubuntu 16.04 with Ros Kinetic. SVO is not able to initialize on the ICL-NUIM Living Room without noise. My calibration file is:

cameras:
  camera:
    distortion:
      parameters:
        cols: 1
        rows: 4
        #data: [0.751875, 1.000000, 0.500000, 0.500000]
        data: [0.0, 0.0, 0.0, 0.0]
      type: radial-tangential
    image_height: 480
    image_width: 640
    intrinsics:
      cols: 1
      rows: 4
      data: [481.2, -480.0 , 319.5, 239.5]
    label: cam
    line-delay-nanoseconds: 0
    type: pinhole
  T_B_C:
    cols: 4
    rows: 4
    data: [1, 0, 0, 0,
           0, 1, 0, 0,
           0, 0, 1, 0,
           0, 0, 0, 1]
label: camera

I have found a solution on uzh-rpg/rpg_svo#87 where it is solved when they put a minus before 'dy' on line 140 in sparse_img_align.cpp. But I do not have the source codes I only have the binaries. Do you have any solution?

Thanks in advance.

REMODE does not work with the message type of the SVO 2.0

The message type built previously for SVO 1.0 for "/dense_input" does not match the message type of SVO 2.0 and as a result the REMODE does not work with it.

svo_2 publish color bgr8 instead mono8 into "dense_input_with_features"

Hello,
I am trying to get the REMODE to work with svo 2 binaries and already made the REMODE publish colored pointcloud, but the svo_2 dense input only publishes the mono8 image.
In the Visualizer.cpp line 656 the if condition (" !frame->original_color_image_.empty()" ) is always false - the original frame is empty, as far as I understand the original colored image is not being passed. How to set it to true? Can you recompile the binaries with this variable to be true?

exit code -11 ????

During following "install.pdf",

roslaunch svo_ros run_from_topic.launch cam_name:=svo_test_pinhole
rosbag play svo_test_short.bag

Executing first line of above commands shows me messages below ..

NODES
/
svo (svo_ros/svo_node)
svo_gui (rqt_gui/rqt_gui)
vis (rviz/rviz)

auto-starting new master
process[master]: started with pid [6505]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9f9e9f04-8bc2-11e7-ab49-10bf4802e9ef
process[rosout-1]: started with pid [6518]
started core service [/rosout]
process[svo-2]: started with pid [6536]
process[vis-3]: started with pid [6537]
process[svo_gui-4]: started with pid [6538]
[ INFO] [1503905368.353618231]: Found parameter: pipeline_is_stereo, value: 0
[ WARN] [1503905368.354739359]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1
[ WARN] [1503905368.355608147]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0
[ INFO] [1503905368.358716792]: Found parameter: calib_file, value: /home/xxxx/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/calib/svo_test_pinhole.yaml
loaded 1 cameras
name = cam
size = [752, 480]
Projection = Pinhole
Focal length = (383.013, 382.392)
Principal point = (344.706, 244.327)
Distortion: Atan(0.932)
[ WARN] [1503905368.360813677]: Cannot find value for parameter: klt_max_level, assigning default: 4
[ WARN] [1503905368.361654246]: Cannot find value for parameter: klt_min_level, assigning default: 0
[ INFO] [1503905368.364081464]: Found parameter: reprojector_max_n_kfs, value: 5
[ INFO] [1503905368.367630233]: Found parameter: max_fts, value: 180
[ INFO] [1503905368.369590566]: Found parameter: grid_size, value: 30
[ WARN] [1503905368.370461410]: Cannot find value for parameter: reproject_unconverged_seeds, assigning default: 1
[ INFO] [1503905368.372960380]: Found parameter: reprojector_affine_est_offset, value: 1
[ INFO] [1503905368.376066977]: Found parameter: reprojector_affine_est_gain, value: 0
[ WARN] [1503905368.377131082]: Cannot find value for parameter: init_min_features, assigning default: 100
[ WARN] [1503905368.378335327]: Cannot find value for parameter: init_min_tracked, assigning default: 80
[ WARN] [1503905368.379482218]: Cannot find value for parameter: init_min_inliers, assigning default: 70
[ INFO] [1503905368.382400624]: Found parameter: init_min_disparity, value: 30
[ WARN] [1503905368.383003656]: Cannot find value for parameter: init_min_features_factor, assigning default: 2
[ WARN] [1503905368.383619175]: Cannot find value for parameter: reproj_err_thresh, assigning default: 2
[ WARN] [1503905368.384210617]: Cannot find value for parameter: init_disparity_pivot_ratio, assigning default: 0.5
[ WARN] [1503905368.384806852]: Cannot find value for parameter: init_method, assigning default: FivePoint
[ INFO] [1503905368.386782697]: Found parameter: grid_size, value: 30
[ INFO] [1503905368.388588079]: Found parameter: n_pyr_levels, value: 3
[ INFO] [1503905368.390797398]: Found parameter: detector_threshold_primary, value: 10
[ INFO] [1503905368.395400837]: Found parameter: detector_threshold_secondary, value: 200
[ WARN] [1503905368.396639542]: Cannot find value for parameter: use_edgelets, assigning default: 1
[ INFO] [1503905368.400412513]: Found parameter: n_pyr_levels, value: 3
[ WARN] [1503905368.401830056]: Cannot find value for parameter: use_threaded_depthfilter, assigning default: 1
[ INFO] [1503905368.405912557]: Found parameter: seed_convergence_sigma2_thresh, value: 200
[ INFO] [1503905368.409179077]: Found parameter: scan_epi_unit_sphere, value: 0
[ INFO] [1503905368.412417123]: Found parameter: depth_filter_affine_est_offset, value: 1
[ INFO] [1503905368.415656376]: Found parameter: depth_filter_affine_est_gain, value: 0
[ INFO] [1503905368.420464838]: Found parameter: max_fts, value: 180
[ WARN] [1503905368.422437965]: Cannot find value for parameter: max_seeds_ratio, assigning default: 3
[ INFO] [1503905368.428156797]: Found parameter: max_n_kfs, value: 30
[ INFO] [1503905368.433160499]: Found parameter: use_imu, value: 0
[ WARN] [1503905368.459941128]: Cannot find value for parameter: trace_dir, assigning default: /home/xxxx/svo_install_ws/install/share/svo/trace
[ WARN] [1503905368.460944007]: Cannot find value for parameter: quality_min_fts, assigning default: 50
[ WARN] [1503905368.461934634]: Cannot find value for parameter: quality_max_drop_fts, assigning default: 40
[ WARN] [1503905368.463312469]: Cannot find value for parameter: relocalization_max_trials, assigning default: 50
[ INFO] [1503905368.467903955]: Found parameter: poseoptim_prior_lambda, value: 0
[ INFO] [1503905368.471746492]: Found parameter: poseoptim_using_unit_sphere, value: 0
[ INFO] [1503905368.473845025]: Found parameter: img_align_prior_lambda_rot, value: 0
[ INFO] [1503905368.475951430]: Found parameter: img_align_prior_lambda_trans, value: 0
[ WARN] [1503905368.476709740]: Cannot find value for parameter: structure_optimization_max_pts, assigning default: 20
[ INFO] [1503905368.478860157]: Found parameter: map_scale, value: 1
[ INFO] [1503905368.481077020]: Found parameter: kfselect_criterion, value: FORWARD
[ WARN] [1503905368.481792754]: Cannot find value for parameter: kfselect_min_dist, assigning default: 0.12
[ INFO] [1503905368.483744476]: Found parameter: kfselect_numkfs_upper_thresh, value: 120
[ INFO] [1503905368.485722160]: Found parameter: kfselect_numkfs_lower_thresh, value: 70
[ INFO] [1503905368.487646365]: Found parameter: kfselect_min_dist_metric, value: 0.1
[ INFO] [1503905368.489510883]: Found parameter: kfselect_min_angle, value: 20
[ INFO] [1503905368.491390025]: Found parameter: kfselect_min_disparity, value: 40
[ WARN] [1503905368.492051439]: Cannot find value for parameter: kfselect_min_num_frames_between_kfs, assigning default: 2
[ INFO] [1503905368.494051356]: Found parameter: img_align_max_level, value: 4
[ INFO] [1503905368.496112193]: Found parameter: img_align_min_level, value: 2
[ WARN] [1503905368.496877473]: Cannot find value for parameter: img_align_robustification, assigning default: 0
[ WARN] [1503905368.497586983]: Cannot find value for parameter: img_align_use_distortion_jacobian, assigning default: 0
[ INFO] [1503905368.501141267]: Found parameter: img_align_est_illumination_gain, value: 0
[ INFO] [1503905368.505531879]: Found parameter: img_align_est_illumination_offset, value: 0
[ INFO] [1503905368.509430554]: Found parameter: poseoptim_thresh, value: 2
[ INFO] [1503905368.513366042]: Found parameter: update_seeds_with_old_keyframes, value: 1
[ INFO] [1503905368.516629768]: Found parameter: use_async_reprojectors, value: 0
[ INFO] [1503905368.516951734]: DepthFilter: created.
[ INFO] [1503905368.517032604]: DepthFilter: Start thread.
[ WARN] [1503905368.518419438]: Cannot find value for parameter: T_world_imuinit/tz, assigning default: 0
[ WARN] [1503905368.519527076]: Cannot find value for parameter: T_world_imuinit/ty, assigning default: 0
[ WARN] [1503905368.520631911]: Cannot find value for parameter: T_world_imuinit/tx, assigning default: 0
[ INFO] [1503905368.530467452]: Found parameter: T_world_imuinit/qz, value: 0
[ INFO] [1503905368.534482020]: Found parameter: T_world_imuinit/qy, value: 0
[ INFO] [1503905368.537775845]: Found parameter: T_world_imuinit/qx, value: 0
[ INFO] [1503905368.541727290]: Found parameter: T_world_imuinit/qw, value: 1
*** Aborted at 1503905368 (unix time) try "date -d @1503905368" if you are using GNU date ***
PC: @ 0x0 (unknown)
*** SIGSEGV (@0x2A) received by PID 6536 (TID 0x7ffb8bae3a40) from PID 42; stack trace: ***
@ 0x7ffb8aaa6cb0 (unknown)
@ 0x7ffb8b1153cb std::string::string()
@ 0x7ffb8b3b5102 svo::Visualizer::Visualizer()
@ 0x7ffb8b39278b svo::SvoInterface::SvoInterface()
@ 0x7ffb8b3b245f svo_ros::SvoNodeBase::SvoNodeBase()
@ 0x400c05 main
@ 0x7ffb8aa91f45 __libc_start_main
@ 0x400c7c (unknown)
@ 0x0 (unknown)
[svo-2] process has died [pid 6536, exit code -11, cmd /home/xxxx/svo_install_overlay_ws/devel/lib/svo_ros/svo_node __name:=svo __log:=/home/xxxx/.ros/log/9f9e9f04-8bc2-11e7-ab49-10bf4802e9ef/svo-2.log].

Can I ask the reason of exit code -11?? : )

KITTI benchmark

Hi,
I'm trying to use SVO stereo on KITTI dataset. I changed launch, calib and params files but I don't know how to write T_B_C. Which units should I use?
It's KITTI hardware setup: http://www.cvlibs.net/datasets/kitti/images/setup_top_view.png
Can you guys can help me?
During test I always get this message:
[ INFO] [1506685381.758927285]: Stereo: Triangulated 48 features,127 failed.
[ERROR] [1506685381.759024257]: Initialization failed. Not enough triangulated points.
What does it mean?
Thanks for your help!
Best Regards
Nickhodem

catkin build error

Hi,
I was building the binary on ubuntu16.04, but errors happend.
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] Built target svo_msgs_generate_messages_cpp
[ 0%] Built target svo_msgs_generate_messages_nodejs
Scanning dependencies of target svo_msgs_generate_messages_py
Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp
Scanning dependencies of target dynamic_reconfigure_gencfg
Scanning dependencies of target pcl_msgs_generate_messages_cpp
[ 0%] Built target dynamic_reconfigure_generate_messages_cpp
[ 0%] Built target dynamic_reconfigure_gencfg
[ 0%] Built target svo_msgs_generate_messages_py
[ 0%] Built target pcl_msgs_generate_messages_cpp
Scanning dependencies of target bond_generate_messages_nodejs
Scanning dependencies of target pcl_msgs_generate_messages_lisp
Scanning dependencies of target visualization_msgs_generate_messages_eus
Scanning dependencies of target dynamic_reconfigure_generate_messages_eus
[ 0%] Built target pcl_msgs_generate_messages_lisp
[ 0%] Built target bond_generate_messages_nodejs
[ 0%] Built target visualization_msgs_generate_messages_eus
[ 0%] Built target dynamic_reconfigure_generate_messages_eus
Scanning dependencies of target pcl_msgs_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_lisp
Scanning dependencies of target topic_tools_generate_messages_lisp
Scanning dependencies of target topic_tools_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target pcl_msgs_generate_messages_py
[ 0%] Built target topic_tools_generate_messages_lisp
[ 0%] Built target topic_tools_generate_messages_nodejs
Scanning dependencies of target svo_ros
[ 11%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o
[ 22%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o
[ 33%] Building CXX object CMakeFiles/svo_ros.dir/src/visualizer.cpp.o
[ 44%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o
[ 55%] Linking CXX shared library /home/x/workspace/svo_binaries_1604_kinetic/svo_install_overlay_ws/devel/lib/libsvo_ros.so
[ 55%] Built target svo_ros
Scanning dependencies of target svo_nodelet
Scanning dependencies of target svo_node
[ 66%] Building CXX object CMakeFiles/svo_nodelet.dir/src/svo_nodelet.cpp.o
[ 77%] Building CXX object CMakeFiles/svo_node.dir/src/svo_node.cpp.o
[ 88%] Linking CXX executable /home/x/workspace/svo_binaries_1604_kinetic/svo_install_overlay_ws/devel/lib/svo_ros/svo_node
[100%] Linking CXX shared library /home/x/workspace/svo_binaries_1604_kinetic/svo_install_overlay_ws/devel/lib/libsvo_nodelet.so
[100%] Built target svo_nodelet
/usr/bin/ld: warning: libopencv_core3.so.3.2, needed by /home/x/workspace/svo_binaries_1604_kinetic/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_highgui3.so.3.2, needed by /home/x/workspace/svo_binaries_1604_kinetic/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_imgproc3.so.3.2, needed by /home/x/workspace/svo_binaries_1604_kinetic/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_imgcodecs3.so.3.2, needed by /home/x/workspace/svo_binaries_1604_kinetic/svo_install_ws/install/lib/libvikit_cameras.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_calib3d3.so.3.2, needed by /home/x/workspace/svo_binaries_1604_kinetic/svo_install_ws/install/lib/libvikit_common.so, not found (try using -rpath or -rpath-link)
/home/x/workspace/svo_binaries_1604_kinetic/svo_install_ws/install/lib/libvikit_common.socv::findHomography(cv::_InputArray const&, cv::_InputArray const&, int, double, cv::_OutputArray const&, int, double)
[svo_ros] <== '/home/x/workspace/svo_binaries_1604_kinetic/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'

Failed <== svo_ros [ 37.0 seconds ]
[build] There were '1' errors:

Failed to build package 'svo_ros' because the following command:

Command to reproduce:

cd /home/x/workspace/svo_binaries_1604_kinetic/svo_install_overlay_ws/build/svo_ros && /home/x/workspace/svo_binaries_1604_kinetic/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

Path to log:

cat /home/x/workspace/svo_binaries_1604_kinetic/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 2

[build] Runtime: 37.2 seconds

OpenCV in ROS Kinetic compatibility problem

Hi, recently I found SVO example can't be built due to some error as follows: (Ubuntu 16.04, ROS Kinetic)

Scanning dependencies of target svo_ros
[ 11%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o
[ 22%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o
[ 33%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o
[ 44%] Building CXX object CMakeFiles/svo_ros.dir/src/visualizer.cpp.o
[ 55%] Linking CXX shared library /home/bcs/svo_install_overlay_ws/devel/lib/libsvo_ros.so
[ 55%] Built target svo_ros
Scanning dependencies of target svo_nodelet
Scanning dependencies of target svo_node
[ 77%] Building CXX object CMakeFiles/svo_node.dir/src/svo_node.cpp.o
[ 77%] Building CXX object CMakeFiles/svo_nodelet.dir/src/svo_nodelet.cpp.o
[ 88%] Linking CXX executable /home/bcs/svo_install_overlay_ws/devel/lib/svo_ros/svo_node
[100%] Linking CXX shared library /home/bcs/svo_install_overlay_ws/devel/lib/libsvo_nodelet.so
/usr/bin/ld: warning: libopencv_core3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_highgui3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_imgproc3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libsvo.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_imgcodecs3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libvikit_cameras.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: warning: libopencv_calib3d3.so.3.2, needed by /home/bcs/svo_install_ws/install/lib/libvikit_common.so, not found (try using -rpath or -rpath-link)
/home/bcs/svo_install_ws/install/lib/libvikit_common.socv::findHomography(cv::_InputArray const&, cv::_InputArray const&, int, double, cv::_OutputArray const&, int, double)
/home/bcs/svo_install_ws/install/lib/libsvo.socv::waitKey(int)
/home/bcs/svo_install_ws/install/lib/libsvo.socv::imshow(cv::String const&, cv::_InputArray const&)
collect2: error: ld returned 1 exit status
CMakeFiles/svo_node.dir/build.make:583: recipe for target '/home/bcs/svo_install_overlay_ws/devel/lib/svo_ros/svo_node' failed
make[2]: *** [/home/bcs/svo_install_overlay_ws/devel/lib/svo_ros/svo_node] Error 1
CMakeFiles/Makefile2:159: recipe for target 'CMakeFiles/svo_node.dir/all' failed
make[1]: *** [CMakeFiles/svo_node.dir/all] Error 2
make[1]: *** ....
[100%] Built target svo_nodelet
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
[svo_ros] <== '/home/bcs/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'
                                                                                 
Failed   <== svo_ros [ 1 minute and 37.4 seconds ]                              
[build] There were '1' errors:                                                  

Failed to build package 'svo_ros' because the following command:

# Command to reproduce:
cd /home/bcs/svo_install_overlay_ws/build/svo_ros && /home/bcs/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

# Path to log:
cat /home/bcs/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 2 
                                                                                
[build] Runtime: 1 minute and 38.0 seconds 

As suggested in a previous closed issue, I have checked my opencv libraries using ls -l /opt/ros/kinetic/lib/ | grep opencv. And I got

lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_aruco3.so -> libopencv_aruco3.so.3.3
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_aruco3.so.3.3 -> libopencv_aruco3.so.3.3.1
-rw-r--r-- 1 root root   308784 11月  7 02:47 libopencv_aruco3.so.3.3.1
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_bgsegm3.so -> libopencv_bgsegm3.so.3.3
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_bgsegm3.so.3.3 -> libopencv_bgsegm3.so.3.3.1
-rw-r--r-- 1 root root    76168 11月  7 02:47 libopencv_bgsegm3.so.3.3.1
lrwxrwxrwx 1 root root       29 11月  7 02:47 libopencv_bioinspired3.so -> libopencv_bioinspired3.so.3.3
lrwxrwxrwx 1 root root       31 11月  7 02:47 libopencv_bioinspired3.so.3.3 -> libopencv_bioinspired3.so.3.3.1
-rw-r--r-- 1 root root   277704 11月  7 02:47 libopencv_bioinspired3.so.3.3.1
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_calib3d3.so -> libopencv_calib3d3.so.3.3
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_calib3d3.so.3.3 -> libopencv_calib3d3.so.3.3.1
-rw-r--r-- 1 root root  1586904 11月  7 02:47 libopencv_calib3d3.so.3.3.1
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_ccalib3.so -> libopencv_ccalib3.so.3.3
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_ccalib3.so.3.3 -> libopencv_ccalib3.so.3.3.1
-rw-r--r-- 1 root root   434232 11月  7 02:47 libopencv_ccalib3.so.3.3.1
lrwxrwxrwx 1 root root       22 11月  7 02:47 libopencv_core3.so -> libopencv_core3.so.3.3
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_core3.so.3.3 -> libopencv_core3.so.3.3.1
-rw-r--r-- 1 root root 12978328 11月  7 02:47 libopencv_core3.so.3.3.1
lrwxrwxrwx 1 root root       21 11月  7 02:47 libopencv_cvv3.so -> libopencv_cvv3.so.3.3
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_cvv3.so.3.3 -> libopencv_cvv3.so.3.3.1
-rw-r--r-- 1 root root  1345856 11月  7 02:47 libopencv_cvv3.so.3.3.1
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_datasets3.so -> libopencv_datasets3.so.3.3
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_datasets3.so.3.3 -> libopencv_datasets3.so.3.3.1
-rw-r--r-- 1 root root   449448 11月  7 02:47 libopencv_datasets3.so.3.3.1
lrwxrwxrwx 1 root root       21 11月  7 02:47 libopencv_dnn3.so -> libopencv_dnn3.so.3.3
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_dnn3.so.3.3 -> libopencv_dnn3.so.3.3.1
-rw-r--r-- 1 root root  6626600 11月  7 02:47 libopencv_dnn3.so.3.3.1
lrwxrwxrwx 1 root root       21 11月  7 02:47 libopencv_dpm3.so -> libopencv_dpm3.so.3.3
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_dpm3.so.3.3 -> libopencv_dpm3.so.3.3.1
-rw-r--r-- 1 root root   129704 11月  7 02:47 libopencv_dpm3.so.3.3.1
lrwxrwxrwx 1 root root       22 11月  7 02:47 libopencv_face3.so -> libopencv_face3.so.3.3
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_face3.so.3.3 -> libopencv_face3.so.3.3.1
-rw-r--r-- 1 root root   170832 11月  7 02:47 libopencv_face3.so.3.3.1
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_features2d3.so -> libopencv_features2d3.so.3.3
lrwxrwxrwx 1 root root       30 11月  7 02:47 libopencv_features2d3.so.3.3 -> libopencv_features2d3.so.3.3.1
-rw-r--r-- 1 root root   869016 11月  7 02:47 libopencv_features2d3.so.3.3.1
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_flann3.so -> libopencv_flann3.so.3.3
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_flann3.so.3.3 -> libopencv_flann3.so.3.3.1
-rw-r--r-- 1 root root   334880 11月  7 02:47 libopencv_flann3.so.3.3.1
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_fuzzy3.so -> libopencv_fuzzy3.so.3.3
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_fuzzy3.so.3.3 -> libopencv_fuzzy3.so.3.3.1
-rw-r--r-- 1 root root   113136 11月  7 02:47 libopencv_fuzzy3.so.3.3.1
lrwxrwxrwx 1 root root       21 11月  7 02:47 libopencv_hdf3.so -> libopencv_hdf3.so.3.3
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_hdf3.so.3.3 -> libopencv_hdf3.so.3.3.1
-rw-r--r-- 1 root root    39456 11月  7 02:47 libopencv_hdf3.so.3.3.1
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_highgui3.so -> libopencv_highgui3.so.3.3
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_highgui3.so.3.3 -> libopencv_highgui3.so.3.3.1
-rw-r--r-- 1 root root   267208 11月  7 02:47 libopencv_highgui3.so.3.3.1
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_imgcodecs3.so -> libopencv_imgcodecs3.so.3.3
lrwxrwxrwx 1 root root       29 11月  7 02:47 libopencv_imgcodecs3.so.3.3 -> libopencv_imgcodecs3.so.3.3.1
-rw-r--r-- 1 root root  4277928 11月  7 02:47 libopencv_imgcodecs3.so.3.3.1
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_img_hash3.so -> libopencv_img_hash3.so.3.3
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_img_hash3.so.3.3 -> libopencv_img_hash3.so.3.3.1
-rw-r--r-- 1 root root  3284496 11月  7 02:47 libopencv_img_hash3.so.3.3.1
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_imgproc3.so -> libopencv_imgproc3.so.3.3
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_imgproc3.so.3.3 -> libopencv_imgproc3.so.3.3.1
-rw-r--r-- 1 root root 39353088 11月  7 02:47 libopencv_imgproc3.so.3.3.1
lrwxrwxrwx 1 root root       33 11月  7 02:47 libopencv_line_descriptor3.so -> libopencv_line_descriptor3.so.3.3
lrwxrwxrwx 1 root root       35 11月  7 02:47 libopencv_line_descriptor3.so.3.3 -> libopencv_line_descriptor3.so.3.3.1
-rw-r--r-- 1 root root   187896 11月  7 02:47 libopencv_line_descriptor3.so.3.3.1
lrwxrwxrwx 1 root root       20 11月  7 02:47 libopencv_ml3.so -> libopencv_ml3.so.3.3
lrwxrwxrwx 1 root root       22 11月  7 02:47 libopencv_ml3.so.3.3 -> libopencv_ml3.so.3.3.1
-rw-r--r-- 1 root root   749472 11月  7 02:47 libopencv_ml3.so.3.3.1
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_objdetect3.so -> libopencv_objdetect3.so.3.3
lrwxrwxrwx 1 root root       29 11月  7 02:47 libopencv_objdetect3.so.3.3 -> libopencv_objdetect3.so.3.3.1
-rw-r--r-- 1 root root  3601744 11月  7 02:47 libopencv_objdetect3.so.3.3.1
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_optflow3.so -> libopencv_optflow3.so.3.3
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_optflow3.so.3.3 -> libopencv_optflow3.so.3.3.1
-rw-r--r-- 1 root root   397232 11月  7 02:47 libopencv_optflow3.so.3.3.1
lrwxrwxrwx 1 root root       34 11月  7 02:47 libopencv_phase_unwrapping3.so -> libopencv_phase_unwrapping3.so.3.3
lrwxrwxrwx 1 root root       36 11月  7 02:47 libopencv_phase_unwrapping3.so.3.3 -> libopencv_phase_unwrapping3.so.3.3.1
-rw-r--r-- 1 root root    35360 11月  7 02:47 libopencv_phase_unwrapping3.so.3.3.1
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_photo3.so -> libopencv_photo3.so.3.3
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_photo3.so.3.3 -> libopencv_photo3.so.3.3.1
-rw-r--r-- 1 root root  4043536 11月  7 02:47 libopencv_photo3.so.3.3.1
lrwxrwxrwx 1 root root       22 11月  7 02:47 libopencv_plot3.so -> libopencv_plot3.so.3.3
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_plot3.so.3.3 -> libopencv_plot3.so.3.3.1
-rw-r--r-- 1 root root  3231056 11月  7 02:47 libopencv_plot3.so.3.3.1
lrwxrwxrwx 1 root root       21 11月  7 02:47 libopencv_reg3.so -> libopencv_reg3.so.3.3
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_reg3.so.3.3 -> libopencv_reg3.so.3.3.1
-rw-r--r-- 1 root root  3345936 11月  7 02:47 libopencv_reg3.so.3.3.1
lrwxrwxrwx 1 root root       22 11月  7 02:47 libopencv_rgbd3.so -> libopencv_rgbd3.so.3.3
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_rgbd3.so.3.3 -> libopencv_rgbd3.so.3.3.1
-rw-r--r-- 1 root root   557200 11月  7 02:47 libopencv_rgbd3.so.3.3.1
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_saliency3.so -> libopencv_saliency3.so.3.3
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_saliency3.so.3.3 -> libopencv_saliency3.so.3.3.1
-rw-r--r-- 1 root root   195832 11月  7 02:47 libopencv_saliency3.so.3.3.1
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_shape3.so -> libopencv_shape3.so.3.3
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_shape3.so.3.3 -> libopencv_shape3.so.3.3.1
-rw-r--r-- 1 root root   240320 11月  7 02:47 libopencv_shape3.so.3.3.1
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_stereo3.so -> libopencv_stereo3.so.3.3
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_stereo3.so.3.3 -> libopencv_stereo3.so.3.3.1
-rw-r--r-- 1 root root   141824 11月  7 02:47 libopencv_stereo3.so.3.3.1
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_stitching3.so -> libopencv_stitching3.so.3.3
lrwxrwxrwx 1 root root       29 11月  7 02:47 libopencv_stitching3.so.3.3 -> libopencv_stitching3.so.3.3.1
-rw-r--r-- 1 root root   602760 11月  7 02:47 libopencv_stitching3.so.3.3.1
lrwxrwxrwx 1 root root       34 11月  7 02:47 libopencv_structured_light3.so -> libopencv_structured_light3.so.3.3
lrwxrwxrwx 1 root root       36 11月  7 02:47 libopencv_structured_light3.so.3.3 -> libopencv_structured_light3.so.3.3.1
-rw-r--r-- 1 root root   121608 11月  7 02:47 libopencv_structured_light3.so.3.3.1
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_superres3.so -> libopencv_superres3.so.3.3
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_superres3.so.3.3 -> libopencv_superres3.so.3.3.1
-rw-r--r-- 1 root root   175176 11月  7 02:47 libopencv_superres3.so.3.3.1
lrwxrwxrwx 1 root root       34 11月  7 02:47 libopencv_surface_matching3.so -> libopencv_surface_matching3.so.3.3
lrwxrwxrwx 1 root root       36 11月  7 02:47 libopencv_surface_matching3.so.3.3 -> libopencv_surface_matching3.so.3.3.1
-rw-r--r-- 1 root root   286136 11月  7 02:47 libopencv_surface_matching3.so.3.3.1
lrwxrwxrwx 1 root root       22 11月  7 02:47 libopencv_text3.so -> libopencv_text3.so.3.3
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_text3.so.3.3 -> libopencv_text3.so.3.3.1
-rw-r--r-- 1 root root   409624 11月  7 02:47 libopencv_text3.so.3.3.1
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_tracking3.so -> libopencv_tracking3.so.3.3
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_tracking3.so.3.3 -> libopencv_tracking3.so.3.3.1
-rw-r--r-- 1 root root  2115336 11月  7 02:47 libopencv_tracking3.so.3.3.1
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_video3.so -> libopencv_video3.so.3.3
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_video3.so.3.3 -> libopencv_video3.so.3.3.1
-rw-r--r-- 1 root root  3609488 11月  7 02:47 libopencv_video3.so.3.3.1
lrwxrwxrwx 1 root root       25 11月  7 02:47 libopencv_videoio3.so -> libopencv_videoio3.so.3.3
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_videoio3.so.3.3 -> libopencv_videoio3.so.3.3.1
-rw-r--r-- 1 root root   163216 11月  7 02:47 libopencv_videoio3.so.3.3.1
lrwxrwxrwx 1 root root       27 11月  7 02:47 libopencv_videostab3.so -> libopencv_videostab3.so.3.3
lrwxrwxrwx 1 root root       29 11月  7 02:47 libopencv_videostab3.so.3.3 -> libopencv_videostab3.so.3.3.1
-rw-r--r-- 1 root root   347376 11月  7 02:47 libopencv_videostab3.so.3.3.1
lrwxrwxrwx 1 root root       21 11月  7 02:47 libopencv_viz3.so -> libopencv_viz3.so.3.3
lrwxrwxrwx 1 root root       23 11月  7 02:47 libopencv_viz3.so.3.3 -> libopencv_viz3.so.3.3.1
-rw-r--r-- 1 root root   394408 11月  7 02:47 libopencv_viz3.so.3.3.1
lrwxrwxrwx 1 root root       29 11月  7 02:47 libopencv_xfeatures2d3.so -> libopencv_xfeatures2d3.so.3.3
lrwxrwxrwx 1 root root       31 11月  7 02:47 libopencv_xfeatures2d3.so.3.3 -> libopencv_xfeatures2d3.so.3.3.1
-rw-r--r-- 1 root root  2879304 11月  7 02:47 libopencv_xfeatures2d3.so.3.3.1
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_ximgproc3.so -> libopencv_ximgproc3.so.3.3
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_ximgproc3.so.3.3 -> libopencv_ximgproc3.so.3.3.1
-rw-r--r-- 1 root root  1147448 11月  7 02:47 libopencv_ximgproc3.so.3.3.1
lrwxrwxrwx 1 root root       28 11月  7 02:47 libopencv_xobjdetect3.so -> libopencv_xobjdetect3.so.3.3
lrwxrwxrwx 1 root root       30 11月  7 02:47 libopencv_xobjdetect3.so.3.3 -> libopencv_xobjdetect3.so.3.3.1
-rw-r--r-- 1 root root   105160 11月  7 02:47 libopencv_xobjdetect3.so.3.3.1
lrwxrwxrwx 1 root root       24 11月  7 02:47 libopencv_xphoto3.so -> libopencv_xphoto3.so.3.3
lrwxrwxrwx 1 root root       26 11月  7 02:47 libopencv_xphoto3.so.3.3 -> libopencv_xphoto3.so.3.3.1
-rw-r--r-- 1 root root  3413520 11月  7 02:47 libopencv_xphoto3.so.3.3.1

It appeared that the OpenCV libraries in ROS Kinetic has updraded to 3.3.1 recently, and there is a compatibility problem with SVO binaries which tried to find 3.2 libraries.

Stereo fisheye cameras with minimal overlap not detecting features

I'm testing a setup with stereo fisheye cameras that are facing in mostly opposite directions, such that there is minimal overlap between their views. It never successfully initializes though, and the number of features is always around 0-40, with most of them in the overlapping region, and they don't look like good features, despite plenty of corners elsewhere in the scene. If I run with either camera alone as a mono setup, number of features is often 180+ (max_fts), and results look good as expected.

Is there some aspect of initialization with 2 cameras that requires points in the overlapping region?
If I decrease the init_min_* parameters down to around 40, it will always crash right after "Init: Selected first frame."

libglog.so link error when running the roslaunch

I first had some libraries missing when building and I was able to solve that by following the solution suggested here #23.

Now when I try to run the example mentioned in the end of the installation instructions, I get the following error:

/home/Codes/visual_odometry/SVO2/svo_install_overlay_ws/devel/lib/svo_ros/svo_node: symbol lookup error: /home/Codes/visual_odometry/SVO2/svo_install_ws/install/lib/libglog.so.0: undefined symbol: ZN6google14FlagRegistererC1INSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPKcS9_S9_PT_SB

So it seems like that this this symbol is undefined in the libglog.so.0 and I confirmed that by running:
nm libglog.so.0 | grep ZN6google14FlagRegistererC1INSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEEPKcS9_S9_PT_SB_

ldd libglog.so.0 gives the following output:
linux-vdso.so.1 => (0x00007fffba97a000)
libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f18f52a4000)
libgflags.so.2.2 => /usr/local/lib/libgflags.so.2.2 (0x00007f18f506d000)
libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f18f4ceb000)
libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f18f4ad5000)
libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f18f470b000)
/lib64/ld-linux-x86-64.so.2 (0x00007f18f56fe000)
libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f18f4402000)

I don't know at the moment how to solve this issue, so if someone has faced the same problem and has a solution or some tips to point me to the right direction, that would be greatly appreciated. Thank you. If there is some more information needed, I can provide that.

Problem with camera and imu topic

Do we have to synchronizer camera and imu topics?
If so,any suggestion how to do that??
I get some bad result after adding imu data(especially rotation).

Thank you for your assistance,
Johnson

Failed Initialization with Stereo Cameras

Hello,

I created a custom stereo rig and have been trying to get svo running with it. However, when I run my svo launch file the camera feed never starts up and nothing ever happens, no errors are thrown as well. Is this an issue with my stereo calibration? If I run svo with just one camera everything works fine. The tracking and point cloud looks good. So my best guess is that my extrinsic calibration is off. I have been unable to figure how or why it is wrong though.

Below is my calibration file:

label: ps3eye_forward_stereo
cameras:
- camera:
    label: /sync/camera_left/image_raw
    line-delay-nanoseconds: 0
    image_height: 480
    image_width: 640
    type: pinhole
    intrinsics:
      cols: 1
      rows: 4
      data: [527.304356770005, 528.376891316962, 301.042893012369, 204.555752801064]
    distortion:
      type: radial-tangential
      parameters:
        cols: 1
        rows: 4
        data: [-0.140531817851832, 0.120128496282672, 0., 0.]
  T_B_C:
    cols: 4
    rows: 4
    data: [ 1.0, 0.0, 0.0, 0.0,
            0.0, 1.0, 0.0, 0.0,
            0.0, 0.0, 1.0, 0.0,
            0.0, 0.0, 0.0, 1.0]
- camera:
    label: /sync/camera_right/image_raw
    line-delay-nanoseconds: 0
    image_height: 480
    image_width: 640
    type: pinhole

    intrinsics:
      cols: 1
      rows: 4
      data: [513.739801237591, 514.58311771044, 315.651510398624, 216.259812471907]
    distortion:
      type: radial-tangential
      parameters:
        cols: 1
        rows: 4
        data: [-0.128165242708761, 0.138788351341635, 0., 0.]
  T_B_C:
    cols: 4
    rows: 4
    data: [ 0.999747545636243, 0.0204119840558797, 0.00939126728460886, 0.084301274586288,
            -0.0205963617592674, 0.999588330104035, 0.0199739881372851, 0.000918644251837976,
            -0.0089796924551922, -0.02016237155519, 0.999756392275979, 0.000457187443203893,
            0.0, 0.0, 0.0, 1.0]

Here is my launch file:

<launch>
  <arg name="cam_name" />
  <arg name="calib_file" default="$(find svo_ros)/calib/ps3_stereo_calib.yaml"/>

  <!-- SVO node -->
  <node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen">

    <!-- Camera topic to subscribe to -->
    <param name="cam0_topic" value="/sync/camera_left/image_raw" type="str" />
    <param name="cam1_topic" value="/sync/camera_right/image_raw" type="str" />

    <!-- Camera calibration file -->
    <param name="calib_file" value="$(arg calib_file)" />

    <!--Parameters-->
    <rosparam file="$(find svo_ros)/param/ps3_stereo2.yaml" />

  </node>

  <!-- RVIZ + SVO GUI -->
  <node name="vis" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config.rviz" />
  <node name="svo_gui" pkg="rqt_gui" type="rqt_gui" args="-s rqt_svo.svo.Svo --args --topic svo" />

</launch>

Then I am using the same params as the euroc_stereo file but with use_imu = False.

Please let me know what you think the issue might be.

Thank you for your assistance,
Ryan

SVO Monocular code does not work with images in "mono16" format (TUM-VI)

The images from (TUM-VI dataset cannot be loaded with error Unknown image type 2!. It would be better if you could add support for "mono16" images as well.

ARM build issue

Hi, I'm trying to build on ARM and keep running into the following errors:

[ 66%] Building CXX object CMakeFiles/svo_node.dir/src/svo_node.cpp.o
[ 77%] Building CXX object CMakeFiles/svo_nodelet.dir/src/svo_nodelet.cpp.o
[ 88%] Linking CXX executable /home/odroid/svo_install_overlay_ws/devel/lib/svo_ros/svo_node
[100%] Linking CXX shared library /home/odroid/svo_install_overlay_ws/devel/lib/libsvo_nodelet.so
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `vk::output_helper::publishTfTransform(kindr::minimal::QuatTransformationTemplate<double> const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, tf::TransformBroadcaster&)'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `svo::ImuHandler::loadInitializationFromFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `vk::output_helper::publishCameraMarker(ros::Publisher, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, int, int, double, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `cv::imshow(std::string const&, cv::_InputArray const&)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `ros::console::initializeLogLocation(ros::console::LogLocation*, std::string const&, ros::console::levels::Level)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `ros::console::print(ros::console::FilterBase*, void*, ros::console::levels::Level, std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> > const&, char const*, int, char const*)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `YAML::ostream_wrapper::write(std::string const&)'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `vk::output_helper::publishPointMarker(ros::Publisher, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, int, int, double, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, ros::Duration)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `YAML::Emitter::Write(std::string const&)'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `svo::ImuHandler::loadCalibrationFromFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `YAML::LoadFile(std::string const&)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `YAML::detail::node_data::set_scalar(std::string const&)'
/home/odroid/svo_install_ws/install/lib/libvikit_cameras.so: undefined reference to `cv::imread(std::string const&, int)'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `vk::output_helper::publishQuadrocopterMarkers(ros::Publisher, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, int, int, double, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)'
/home/odroid/svo_install_ws/install/lib/libvikit_common.so: undefined reference to `cv::Exception::Exception(int, std::string const&, std::string const&, std::string const&, int)'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `vk::cameras::NCamera::loadFromYaml(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
/home/odroid/svo_install_ws/install/lib/libsvo.so: undefined reference to `YAML::Emitter::PrepareIntegralStream(std::basic_stringstream<char, std::char_traits<char>, std::allocator<char> >&) const'
/home/odroid/svo_install_ws/install/lib/libvikit_cameras.so: undefined reference to `YAML::detail::node_data::empty_scalar'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `google::base::CheckOpMessageBuilder::NewString[abi:cxx11]()'
/home/odroid/svo_install_overlay_ws/devel/lib/libsvo_ros.so: undefined reference to `vk::output_helper::publishFrameMarker(ros::Publisher, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, int, int, double, ros::Duration)'
collect2: error: ld returned 1 exit status
CMakeFiles/svo_node.dir/build.make:653: recipe for target '/home/odroid/svo_install_overlay_ws/devel/lib/svo_ros/svo_node' failed
make[2]: *** [/home/odroid/svo_install_overlay_ws/devel/lib/svo_ros/svo_node] Error 1
CMakeFiles/Makefile2:284: recipe for target 'CMakeFiles/svo_node.dir/all' failed
make[1]: *** [CMakeFiles/svo_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[100%] Built target svo_nodelet
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
[svo_ros] <== '/home/odroid/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'
                                                                                                                                                                                                                                                                                 
Failed   <== svo_ros [ 2 minutes and 0.1 seconds ]                                                                                                                                                                                                                              
[build] There were '1' errors:                                                                                                                                                                                                                                                  

Failed to build package 'svo_ros' because the following command:

# Command to reproduce:
cd /home/odroid/svo_install_overlay_ws/build/svo_ros && /home/odroid/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

# Path to log:
cat /home/odroid/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 2 
                                                                                                                                                                                                                                                                                
[build] Runtime: 2 minutes and 0.4 seconds 

I know the relevant libraries are installed on the system. I'm using the odroid XU4, the same processor that the demo was done on, with the armv71 architecture.

Regarding Code licensing/ commercial usage

Hi,

What kind of licencing do you plan on having for a potential commercialization? Do you plan on making the software opensource or are you having plans on monetization?

SVO+MSF Installation

Hey guys,

I am trying to install SVO2.0 + MSF as the installation.pdf.but I found the binaries is different from what you provided.The binaries file you provided is svo_install_ws, the install.md shows svo_msf_ws.I am confused about this, whether the two binary files are the same.

Thank you for your assistance.

Additional architecture support

Are there plans to release binaries for more CPU architectures? Or giving access to the source code so people could compile their own? Specifically I had been hoping to try to get binaries for the Nvidia Jetson TX2.
https://devblogs.nvidia.com/parallelforall/jetson-tx2-delivers-twice-intelligence-edge/

If you already cross compiled for the Odroid XU4 you probably have most of the work out of the way to compile for Armv8. The binaries from the XU4 would probably be helpful to some people as well.

Monocular camera: scale changes (actually diminished) while moving around

I am trying to move Clearpath husky around the corridor with loops using monocular camera. But the map scale changes while moving the robot around. Are there any specific parameters I can tweak? I am not sure if adding IMU will help or not. Here are some images for reference...

What is the significance of kfselect_criterion ?

Does it mean that the camera should look forward?

catkin build error

This is my build log.

[�[36msvo_ros�[0m] �[1m�[34m==>�[0m '�[1m/home/upboard/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make cmake_check_build_system�[0m' �[30m�[1min�[0m '�[1m/home/upboard/svo_install_overlay_ws/build/svo_ros�[0m'�[0m
[�[36msvo_ros�[0m] �[32m<==�[0m '�[1m/home/upboard/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make cmake_check_build_system�[0m' finished with return code '�[1m0�[0m'�[0m
[�[36msvo_ros�[0m] �[1m�[34m==>�[0m '�[1m/home/upboard/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j�[0m' �[30m�[1min�[0m '�[1m/home/upboard/svo_install_overlay_ws/build/svo_ros�[0m'�[0m
[ 0%] Built target topic_tools_generate_messages_py
[ 0%] Built target std_srvs_generate_messages_cpp
[ 0%] Built target topic_tools_generate_messages_lisp
[ 0%] Built target actionlib_msgs_generate_messages_nodejs
[ 0%] Built target tf2_msgs_generate_messages_py
[ 0%] Built target actionlib_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target nav_msgs_generate_messages_nodejs
[ 0%] Built target roscpp_generate_messages_py
[ 0%] Built target roscpp_generate_messages_cpp
[ 0%] Built target nodelet_generate_messages_py
[ 0%] Built target tf2_msgs_generate_messages_nodejs
[ 0%] Built target nav_msgs_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target dynamic_reconfigure_generate_messages_nodejs
[ 0%] Built target rosgraph_msgs_generate_messages_lisp
[ 0%] Built target pcl_msgs_generate_messages_nodejs
[ 0%] Built target std_srvs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target std_srvs_generate_messages_lisp
[ 0%] Built target bond_generate_messages_py
[ 0%] Built target nodelet_generate_messages_lisp
[ 0%] Built target svo_msgs_generate_messages_lisp
[ 0%] Built target actionlib_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target actionlib_generate_messages_lisp
[ 0%] Built target tf_generate_messages_cpp
[ 0%] Built target std_srvs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target nodelet_generate_messages_cpp
[ 0%] Built target nav_msgs_generate_messages_lisp
[ 0%] Built target dynamic_reconfigure_generate_messages_lisp
[ 0%] Built target nodelet_generate_messages_nodejs
[ 0%] Built target actionlib_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target actionlib_generate_messages_nodejs
[ 0%] Built target visualization_msgs_generate_messages_cpp
[ 0%] Built target rosgraph_msgs_generate_messages_nodejs
[ 0%] Built target topic_tools_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_lisp
[ 0%] Built target bond_generate_messages_cpp
[ 0%] Built target roscpp_generate_messages_lisp
[ 0%] Built target tf_generate_messages_nodejs
[ 0%] Built target std_srvs_generate_messages_py
[ 0%] Built target bond_generate_messages_eus
[ 0%] Built target roscpp_generate_messages_eus
[ 0%] Built target bond_generate_messages_lisp
[ 0%] Built target nodelet_generate_messages_eus
[ 0%] Built target topic_tools_generate_messages_cpp
[ 0%] Built target topic_tools_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_cpp
[ 0%] Built target pcl_msgs_generate_messages_eus
[ 0%] Built target pcl_ros_gencfg
[ 0%] Built target tf2_msgs_generate_messages_eus
[ 0%] Built target nav_msgs_generate_messages_eus
[ 0%] Built target visualization_msgs_generate_messages_lisp
[ 0%] Built target visualization_msgs_generate_messages_nodejs
[ 0%] Built target tf_generate_messages_lisp
[ 0%] Built target svo_msgs_generate_messages_eus
[ 0%] Built target visualization_msgs_generate_messages_py
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target roscpp_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_py
[ 0%] Built target actionlib_generate_messages_cpp
[ 0%] Built target tf_generate_messages_eus
[ 0%] Built target tf_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target actionlib_generate_messages_eus
[ 0%] Built target dynamic_reconfigure_generate_messages_py
[ 0%] Built target actionlib_generate_messages_py
[ 0%] Built target tf2_msgs_generate_messages_cpp
[ 0%] Built target nav_msgs_generate_messages_cpp
[ 0%] Built target tf2_msgs_generate_messages_lisp
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] Built target svo_msgs_generate_messages_nodejs
[ 0%] Built target svo_msgs_generate_messages_cpp
[ 0%] Built target svo_msgs_generate_messages_py
[ 0%] Built target dynamic_reconfigure_gencfg
[ 0%] Built target dynamic_reconfigure_generate_messages_cpp
[ 0%] Built target bond_generate_messages_nodejs
[ 0%] Built target pcl_msgs_generate_messages_lisp
[ 0%] Built target dynamic_reconfigure_generate_messages_eus
[ 0%] Built target visualization_msgs_generate_messages_eus
[ 0%] Built target pcl_msgs_generate_messages_py
[ 0%] Built target pcl_msgs_generate_messages_cpp
make[2]: *** No rule to make target '/home/upboard/svo_install_ws/install/lib/libgflags.so', needed by '/home/upboard/svo_install_overlay_ws/devel/lib/libsvo_ros.so'. Stop.
CMakeFiles/Makefile2:2050: recipe for target 'CMakeFiles/svo_ros.dir/all' failed
make[1]: *** [CMakeFiles/svo_ros.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
[�[36msvo_ros�[0m] �[1m�[31m<==�[0m '�[1m/home/upboard/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j�[0m' �[31mfailed with return code�[0m '�[1m2�[0m'�[0m

I use UPboard with Ubuntu 16.04.3 desktop-amd64 and install ros kinetic version. Did anyone has the same problem and be solved?

Using ODROID XU4 with Ubuntu 16 and ROS Kinetic

Hi.

Does SVO 2.0 work with ODROID XU4 with Ubuntu 16 and ROS Kinetic? If yes, are the provided binaries enough ? Are there any extra/different steps that need to be done?

Thanks.

Issues when build svo example

Hi, I have downloaded the binaries of svo2.0 and installed in ubuntu16.04 followed the support file install.pdf. But when using catkin build to build svo_example after installed svo2.0 binaries, errors happened as flowing picture.

How can I solve this error? Thanks.

Doubt about the trajectory accuracy when the trajectory was not recorded in RVIZ.

A similar issue was presented before. #5
When I run the SVO example (both with the fla_stereo_imu.bag provided and with my own stereo camera, and both on my laptop and Odroid XU4), there are some strange things that make me skeptical of the trajectory accuracy produced only by visual odometry.

1. As mentioned in #5 , though it tracks the position of the camera I get lots of: "seed sigma is nan!-0.338734, sq-nan, check-convergence = 0" and "critical". What does that mean?
   I have considered the error as normal information before, which indicated that the depth filter try to reject some "wrong" estimated depths as they are not converged. But it seems that this error indicates an abnormal problem which can decrease the accuracy now as you mentioned to try to fix/suppress it. Have you found where the problem is? In the implementation or the depth filter algorithm itself?

2. Frequently the trajectory in RVIZ was not recorded as "continuous blue point arrays", especially in corridors or outdoors where fewer features are likely to be detected. When running SVO on odroid, sometimes even few blue points of trajectory was recorded and I can hardly see them. What I can see about the camera motion is only the moving coordinate axes indicating the current camera pose. I doubt that the trajectory recorded in RVIZ is the trajectory estimated using both image frames and IMU information while the moving coordinate frame with no "blue points" left is the motion with only IMU information? Or it is just a communication problem or a RVIZ computation resource occupancy problem?

These problem are of great concern. I'm quite worrying about the accuracy of the estimated trajectory the SVO example could reach, especially on Odroid XU4. Hope you can reply as soon as possible.

Installation Help

Hi,
Bit confused with your installation instruction.
In the install.md file, it says that "Copy the svo_install_ws to where you want to install the binaries", which svo_install_ws ar eyou talking about? In the repository there are not file named that.
Is there a easy way to install this in cakin workspace?
Thanks in advance for you help.
Bikram

Installation issue

Hi,
I am trying to install SVO 2.0 in Ubuntu 16.04 and kinetic.
After following the installation guidelines I get stuck in "catkin build".
I get the following messages:
`
immo@aspire:~/svo_install_overlay_ws$ catkin build

Profile: default
Extending: [cached] /opt/ros/kinetic
Workspace: /home/immo
Source Space: [exists] /home/immo/src
Build Space: [exists] /home/immo/build
Devel Space: [exists] /home/immo/devel
Install Space: [missing] /home/immo/install
DESTDIR: None

Isolate Develspaces: False
Install Packages: False
Isolate Installs: False

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

Found '1' packages in 0.0 seconds.
Starting ==> svo_ros

[svo_ros] ==> '/home/immo/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/immo/build/svo_ros'
[ 88%] Built target actionlib_msgs_generate_messages_nodejs
[ 88%] Built target topic_tools_generate_messages_py
[ 88%] Built target std_srvs_generate_messages_py
[ 88%] Built target tf2_msgs_generate_messages_py
[ 88%] Built target std_msgs_generate_messages_nodejs
[ 88%] Built target geometry_msgs_generate_messages_cpp
[ 88%] Built target actionlib_msgs_generate_messages_lisp
[ 88%] Built target nav_msgs_generate_messages_nodejs
[ 88%] Built target roscpp_generate_messages_py
[ 88%] Built target nodelet_generate_messages_py
[ 88%] Built target roscpp_generate_messages_cpp
[ 88%] Built target tf2_msgs_generate_messages_nodejs
[ 88%] Built target nav_msgs_generate_messages_py
[ 88%] Built target std_msgs_generate_messages_py
[ 88%] Built target dynamic_reconfigure_generate_messages_nodejs
[ 88%] Built target rosgraph_msgs_generate_messages_eus
[ 88%] Built target tf_generate_messages_lisp
[ 88%] Built target rosgraph_msgs_generate_messages_lisp
[ 88%] Built target pcl_msgs_generate_messages_nodejs
[ 88%] Built target std_srvs_generate_messages_nodejs
[ 88%] Built target geometry_msgs_generate_messages_py
[ 88%] Built target geometry_msgs_generate_messages_lisp
[ 88%] Built target bond_generate_messages_py
[ 88%] Built target std_srvs_generate_messages_lisp
[ 88%] Built target nodelet_generate_messages_lisp
[ 88%] Built target std_msgs_generate_messages_lisp
[ 88%] Built target tf_generate_messages_cpp
[ 88%] Built target actionlib_msgs_generate_messages_eus
[ 88%] Built target std_srvs_generate_messages_eus
[ 88%] Built target actionlib_generate_messages_lisp
[ 88%] Built target geometry_msgs_generate_messages_eus
[ 88%] Built target geometry_msgs_generate_messages_nodejs
[ 88%] Built target nodelet_generate_messages_cpp
[ 88%] Built target nav_msgs_generate_messages_lisp
[ 88%] Built target dynamic_reconfigure_generate_messages_lisp
[ 88%] Built target nodelet_generate_messages_nodejs
[ 88%] Built target actionlib_msgs_generate_messages_cpp
[ 88%] Built target sensor_msgs_generate_messages_eus
[ 88%] Built target actionlib_generate_messages_nodejs
[ 88%] Built target visualization_msgs_generate_messages_cpp
[ 88%] Built target bond_generate_messages_cpp
[ 88%] Built target rosgraph_msgs_generate_messages_nodejs
[ 88%] Built target roscpp_generate_messages_lisp
[ 88%] Built target bond_generate_messages_eus
[ 88%] Built target roscpp_generate_messages_eus
[ 88%] Built target bond_generate_messages_lisp
[ 88%] Built target nodelet_generate_messages_eus
[ 88%] Built target topic_tools_generate_messages_cpp
[ 88%] Built target topic_tools_generate_messages_eus
[ 88%] Built target rosgraph_msgs_generate_messages_cpp
[ 88%] Built target pcl_ros_gencfg
[ 88%] Built target pcl_msgs_generate_messages_eus
[ 88%] Built target tf2_msgs_generate_messages_eus
[ 88%] Built target actionlib_msgs_generate_messages_py
[ 88%] Built target visualization_msgs_generate_messages_lisp
[ 88%] Built target nav_msgs_generate_messages_eus
[ 88%] Built target visualization_msgs_generate_messages_nodejs
[ 88%] Built target sensor_msgs_generate_messages_cpp
[ 88%] Built target visualization_msgs_generate_messages_py
[ 88%] Built target std_msgs_generate_messages_cpp
[ 88%] Built target sensor_msgs_generate_messages_nodejs
[ 88%] Built target roscpp_generate_messages_nodejs
[ 88%] Built target rosgraph_msgs_generate_messages_py
[ 88%] Built target sensor_msgs_generate_messages_py
[ 88%] Built target actionlib_generate_messages_cpp
[ 88%] Built target tf_generate_messages_eus
[ 88%] Built target tf_generate_messages_py
[ 88%] Built target std_msgs_generate_messages_eus
[ 88%] Built target actionlib_generate_messages_eus
[ 88%] Built target actionlib_generate_messages_py
[ 88%] Built target tf2_msgs_generate_messages_cpp
[ 88%] Built target dynamic_reconfigure_generate_messages_py
[ 88%] Built target nav_msgs_generate_messages_cpp
[ 88%] Built target tf2_msgs_generate_messages_lisp
[ 88%] Built target dynamic_reconfigure_gencfg
[ 88%] Built target dynamic_reconfigure_generate_messages_cpp
[ 88%] Built target nodelet_topic_tools_gencfg
[ 88%] Built target pcl_msgs_generate_messages_lisp
[ 88%] Built target bond_generate_messages_nodejs
[ 88%] Built target visualization_msgs_generate_messages_eus
[ 88%] Built target dynamic_reconfigure_generate_messages_eus
[ 88%] Built target pcl_msgs_generate_messages_py
[ 88%] Built target pcl_msgs_generate_messages_cpp
[ 88%] Built target std_srvs_generate_messages_cpp
[ 88%] Built target topic_tools_generate_messages_lisp
[ 88%] Built target sensor_msgs_generate_messages_lisp
[ 88%] Built target tf_generate_messages_nodejs
[ 88%] Built target topic_tools_generate_messages_nodejs
[ 88%] Built target svo_ros
[ 88%] Built target svo_nodelet
[ 88%] Linking CXX executable /home/immo/devel/lib/svo_ros/svo_node
/home/immo/devel/lib/libsvo_ros.so: undefined reference to vk::output_helper::publishQuadrocopterMarkers(ros::Publisher, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, int, int, double, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to vk::cameras::NCamera::getCameraVector() const'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::base::CheckOpMessageBuilder::ForVar2()' /home/immo/devel/lib/libsvo_ros.so: undefined reference to google::base::CheckOpMessageBuilder::CheckOpMessageBuilder(char const*)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerArray::FrameHandlerArray(svo::BaseOptions const&, svo::DepthFilterOptions const&, svo::DetectorOptions const&, svo::InitializationOptions const&, svo::ReprojectorOptions const&, svo::FeatureTrackerOptions const&, std::shared_ptr<vk::cameras::NCamera> const&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerBase::setRotationPrior(kindr::minimal::RotationQuaternionTemplate const&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::feature_tracking_utils::getFeatureMatches(svo::Frame const&, svo::Frame const&, std::vector<std::pair<unsigned long, unsigned long>, std::allocator<std::pair<unsigned long, unsigned long> > >*)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerBase::~FrameHandlerBase()'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to vtable for svo::FrameHandlerStereo' /home/immo/devel/lib/libsvo_ros.so: undefined reference to fLI::FLAGS_v'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::ImuHandler::ImuHandler(svo::ImuCalibration const&, svo::ImuInitialization const&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::ImuHandler::loadInitializationFromFile(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::InitVLOG3__(int**, int*, char const*, int)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::feature_detection_utils::drawFeatures(svo::Frame const&, unsigned long, bool, cv::Mat*)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::base::CheckOpMessageBuilder::~CheckOpMessageBuilder()' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::ImuHandler::~ImuHandler()'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to vk::output_helper::publishCameraMarker(ros::Publisher, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, int, int, double, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to vk::cameras::NCamera::loadFromYaml(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::ImuHandler::getRelativeRotationPrior(double, double, bool, kindr::minimal::RotationQuaternionTemplate<double>&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::ImuHandler::addImuMeasurement(svo::ImuMeasurement const&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to vk::output_helper::publishPointMarker(ros::Publisher, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ros::Time const&, int, int, double, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, ros::Duration)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerBase::addImageBundle(std::vector<cv::Mat, std::allocatorcv::Mat > const&, unsigned long)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::InitGoogleLogging(char const*)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to google::ParseCommandLineFlags(int*, char***, bool)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to vtable for svo::FrameHandlerMono' /home/immo/devel/lib/libsvo_ros.so: undefined reference to google::LogMessageFatal::LogMessageFatal(char const*, int, google::CheckOpString const&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::LogMessage::LogMessage(char const*, int)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerBase::setRotationIncrementPrior(kindr::minimal::RotationQuaternionTemplate const&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerStereo::FrameHandlerStereo(svo::BaseOptions const&, svo::DepthFilterOptions const&, svo::DetectorOptions const&, svo::InitializationOptions const&, svo::StereoTriangulationOptions const&, svo::ReprojectorOptions const&, svo::FeatureTrackerOptions const&, std::shared_ptr<vk::cameras::NCamera> const&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to google::InstallFailureSignalHandler()'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::ImuHandler::loadCalibrationFromFile(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to vtable for svo::FrameHandlerArray'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerMono::FrameHandlerMono(svo::BaseOptions const&, svo::DepthFilterOptions const&, svo::DetectorOptions const&, svo::InitializationOptions const&, svo::ReprojectorOptions const&, svo::FeatureTrackerOptions const&, std::shared_ptr<vk::cameras::NCamera> const&)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to vk::output_helper::publishFrameMarker(ros::Publisher, Eigen::Matrix<double, 3, 3, 0, 3, 3> const&, Eigen::Matrix<double, 3, 1, 0, 3, 1> const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, ros::Time const&, int, int, double, ros::Duration)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::LogMessageFatal::~LogMessageFatal()' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::ImuHandler::getInitialAttitude(double, kindr::minimal::RotationQuaternionTemplate&) const'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::base::CheckOpMessageBuilder::NewString[abi:cxx11]()' /home/immo/devel/lib/libsvo_ros.so: undefined reference to google::LogMessage::~LogMessage()'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::kLogSiteUninitialized' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::frame_utils::createImgPyramid(cv::Mat const&, int, std::vector<cv::Mat, std::allocatorcv::Mat >&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::LogMessage::stream()' /home/immo/devel/lib/libsvo_ros.so: undefined reference to vk::output_helper::publishTfTransform(kindr::minimal::QuatTransformationTemplate const&, ros::Time const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, tf::TransformBroadcaster&)'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to google::LogMessageFatal::LogMessageFatal(char const*, int)' /home/immo/devel/lib/libsvo_ros.so: undefined reference to svo::FrameHandlerBase::closeKeyframes() const'
/home/immo/devel/lib/libsvo_ros.so: undefined reference to `svo::ImuHandler::getMeasurements(double, double, bool, std::deque<svo::ImuMeasurement, std::allocatorsvo::ImuMeasurement >&)'
collect2: error: ld returned 1 exit status
CMakeFiles/svo_node.dir/build.make:539: recipe for target '/home/immo/devel/lib/svo_ros/svo_node' failed
make[2]: *** [/home/immo/devel/lib/svo_ros/svo_node] Error 1
CMakeFiles/Makefile2:155: recipe for target 'CMakeFiles/svo_node.dir/all' failed
make[1]: *** [CMakeFiles/svo_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
[svo_ros] <== '/home/immo/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'

Failed <== svo_ros [ 1.7 seconds ]
[build] There were '1' errors:

Failed to build package 'svo_ros' because the following command:

Command to reproduce:

cd /home/immo/build/svo_ros && /home/immo/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -

Path to log:

cat /home/immo/build/build_logs/svo_ros.log

Exited with return code: 2

[build] Runtime: 1.7 seconds
`

---

Any advise would be highly appreciated!

Scaramuzza's camera model?

Why don't support Scaramuzza's camera model?

https://sites.google.com/site/scarabotix/ocamcalib-toolbox

I think it's a very high accurate camera model for all cameras (small FOV, fisheye, and omnidirectional cameras)

Self designed interface: Map destructed

Hey guys,

I am currently trying to integrate SVO 2.0 in a mapping framework for testing. However I run into problems copying the mono example interface provided (I use my own interface, because it suits my needs better). The following code snippet is used for construction:

  _cam = vk::cameras::NCamera::loadFromYaml("/valid/path/to/calib.yaml");

  std::cout << "loaded " << _cam->numCameras() << " cameras";
  for(const auto& cam : _cam->getCameraVector())
    cam->printParameters(std::cout, "");

  // Init VO
  svo::FrameHandlerMono::Ptr _slam =
      std::make_shared<svo::FrameHandlerMono>(
          loadBaseOptions(),
          loadDepthFilterOptions(),
          loadDetectorOptions(),
          loadInitializationOptions(),
          loadReprojectorOptions(),
          loadTrackerOptions(),
          _cam);

  svo::Transformation T_world_imuinit(
      Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0),
      Eigen::Vector3d(0.0, 0.0, 0.0));

  _slam->setInitialImuPose(T_world_imuinit);
  _slam->start();

The camera is read and printed correctly, however directly after creation as well the map as the depth filter are destructed. I copied all parameters and compared them with the ones in the example. The only difference I currently see, is that I don't establish a visualization, because it gets handled from my own framework.

Any suggestions what to try here, or in what cases such behaviour might occure?

Thanks and best regards,

Alex

export feature tracks from svo2

Hi Zichao,

we are implementing the active exposure control algorithm proposed in your ICRA17 paper. To evaluate the exposure control method, the feature track distribution diagram as in Fig. 10 of your paper seems to us a revealing tool. To prepare data for the diagram, we are looking to record ros messages of feature tracks with the svo2 package kindly provided by you. As we look through the svo2 package, the closest clue we find is function publishBundleFeatureTracks which plots the point features matched between two back-to-back frames onto the current frame bundle. Other than that, we don't see functions or message types that are relevant to publishing feature tracks in terms of ros messages. So we wonder,

1. is it possible to export feature tracks from svo2 package?

2. If not, can you please advise on alternatives with which the feature track data can be obtained?

About the performance of the mono+imu svo2.0 in EuRoC datasets

Firstly, thank you for updating the launch files and parameters for EuRoC datasets. I ran the mono+imu mode following your instructions described in the doc/euroc.md. I got the below 3d trajectories with a big error drift in EuRoC V101 and V102 datasets.

v101 3d trajectory

v102 3d trajectory

So I want to know whether my EuRoC testes are good or not ? To a certain extent, maybe I guess the mono+imu mode cannot handle this kind of forward-looking situation very well if I want to get a small drift within a certain range.

catkin build error

Hi,
There is my catkin build error log.

Profile: default
Extending: [cached] /home/nuc/svo_install_ws/install:/opt/ros/kinetic
Workspace: /home/nuc/svo_install_overlay_ws
Source Space: [exists] /home/nuc/svo_install_overlay_ws/src
Build Space: [exists] /home/nuc/svo_install_overlay_ws/build
Devel Space: [exists] /home/nuc/svo_install_overlay_ws/devel
Install Space: [missing] /home/nuc/svo_install_overlay_ws/install
DESTDIR: None

Isolate Develspaces: False
Install Packages: False
Isolate Installs: False

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True

Whitelisted Packages: None
Blacklisted Packages: None

---

WARNING: Your current environment's CMAKE_PREFIX_PATH is different from the
cached CMAKE_PREFIX_PATH used the last time this workspace was built.

If you want to use a different CMAKE_PREFIX_PATH you should call catkin clean --all to remove all references to the previous CMAKE_PREFIX_PATH.

Cached CMAKE_PREFIX_PATH:
/home/nuc/svo_install_ws/install:/opt/ros/kinetic
Current CMAKE_PREFIX_PATH:
/home/nuc/zed_ws/devel:/home/nuc/Guidance_ws/devel:/opt/ros/kinetic

Found '1' packages in 0.0 seconds.
Starting ==> svo_ros

[svo_ros] ==> '/home/nuc/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' in '/home/nuc/svo_install_overlay_ws/build/svo_ros'
[ 0%] Built target svo_msgs_generate_messages_cpp
[ 0%] Built target topic_tools_generate_messages_lisp
[ 0%] Built target topic_tools_generate_messages_eus
[ 0%] Built target topic_tools_generate_messages_nodejs
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[ 0%] Built target dynamic_reconfigure_generate_messages_py
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[ 0%] Built target actionlib_generate_messages_nodejs
[ 0%] Built target tf_generate_messages_cpp
[ 0%] Built target tf2_msgs_generate_messages_cpp
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[ 0%] Built target bond_generate_messages_nodejs
[ 11%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o
[ 22%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o
[ 44%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o
[ 44%] Building CXX object CMakeFiles/svo_ros.dir/src/visualizer.cpp.o
c++: error: unrecognized command line option -mfpu=neon
c++: error: unrecognized command line option -mfpu=neon
c++: error: unrecognized command line option -mfpu=neon
c++: error: unrecognized command line option -mfpu=neon
c++: error: unrecognized command line option -mfpu=neon
c++: error: unrecognized command line option -mfpu=neon
c++: error: unrecognized command line option -mfpu=neon
CMakeFiles/svo_ros.dir/build.make:62: recipe for target 'CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o' failed
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/svo_ros.dir/build.make:134: recipe for target 'CMakeFiles/svo_ros.dir/src/visualizer.cpp.o' failed
make[2]: *** [CMakeFiles/svo_ros.dir/src/visualizer.cpp.o] Error 1
CMakeFiles/svo_ros.dir/build.make:86: recipe for target 'CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o' failed
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o] Error 1
c++: error: unrecognized command line option -mfpu=neon
CMakeFiles/svo_ros.dir/build.make:110: recipe for target 'CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o' failed
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o] Error 1
CMakeFiles/Makefile2:416: recipe for target 'CMakeFiles/svo_ros.dir/all' failed
make[1]: *** [CMakeFiles/svo_ros.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
[svo_ros] <== '/home/nuc/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'

Failed <== svo_ros [ 0.8 seconds ]
[build] There were '1' errors:

Failed to build package 'svo_ros' because the following command:

Command to reproduce:

cd /home/nuc/svo_install_overlay_ws/build/svo_ros && /home/nuc/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j; cd -

Path to log:

cat /home/nuc/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 2

[build] Runtime: 0.9 seconds

svo_gtsam backend

In EuRoC V101 dataset, the estimated trajectory has a big error!

Hi, I use the default pinhole.yaml config file and test V101 dataset with my machine Intel® Core™ i5-4570 CPU @ 3.20GHz × 4 . Sometimes the estimator runs through to the end without tracking failed, sometimes, it cannot run to the end. For the first situation, I've got the below trajectory:

And for the latter situation, I got the below trajectory, with a big error:

scale: 2.650539
compared_pose_pairs 1651 pairs
absolute_translational_error.rmse 0.539003 m
absolute_translational_error.mean 0.464468 m
absolute_translational_error.median 0.451905 m
absolute_translational_error.std 0.273484 m
absolute_translational_error.min 0.101481 m
absolute_translational_error.max 1.536845 m
How can I improve the performance by tuning the parameters?
As a matter of fact, I notice in your paper that, your SVO2 program runs well on all EuRoC datasets. Shown as below chart:

Stereo camera launch failed

Hello everyone, I use SVO2 in stereo mode(without IMU). Here is my stereo camera calibration file:
cameras:

• camera:
  distortion:
  parameters:
  cols: 1
  rows: 4
  data: [-0.3321920298358194, 0.1047044621854059, 0.003132906729067026, -0.002535682618479629]
  type: radial-tangential
  image_height: 480
  image_width: 752
  intrinsics:
  cols: 1
  rows: 4
  data: [483.0500651879798, 485.226588991044, 383.7668152619602, 228.5179979149652]
  label: /stereo/left/image_raw_rect
  line-delay-nanoseconds: 0
  type: pinhole
  T_B_C:
  cols: 4
  rows: 4
  data: [1.0, 0.0, 0.0, -0.04906,
  0.0, 1.0, 0.0, 0.0,
  0.0, 0.0, 1.0, 0.0,
  0.0, 0.0, 0.0, 1.0]
  serial_no: 26806343
  calib_date: 2017-09-28
  description: 'left cam'
• camera:
  distortion:
  parameters:
  cols: 1
  rows: 4
  data: [-0.3401181742329858, 0.1078699763855546, 0.001720717514928077, -0.002231990907669751]
  type: radial-tangential
  image_height: 480
  image_width: 752
  intrinsics:
  cols: 1
  rows: 4
  data: [482.7896578019205, 484.857136549844, 368.2088864146847, 238.6195243498441]
  label: /stereo/right/image_raw_rect
  line-delay-nanoseconds: 0
  type: pinhole
  T_B_C:
  cols: 4
  rows: 4
  data: [1.0, 0.0, 0.0, 0.04906,
  0.0, 1.0, 0.0, 0.0,
  0.0, 0.0, 1.0, 0.0,
  0.0, 0.0, 0.0, 1.0]
  serial_no: 26806357
  calib_date: 2017-09-28
  description: 'right cam'
  label: bluefox2_stereo

The T_B_C is not exactly calibrated. I can't launch stereo launch mode successfully, here is the display message:
[ INFO] [1538040939.943552164]: Found parameter: cam0_topic, value: /stereo/left/image_raw_rect
[ INFO] [1538040939.956717985]: Found parameter: cam1_topic, value: /stereo/right/image_raw_rect
[ INFO] [1538040943.766738950]: /stereo: Initializing reconfigure server
[ INFO] [1538040943.768499335]: camera calibration URL: file:///home/uavlab/.ros/camera_info/mv_26806343.yaml
[ INFO] [1538040943.881733856]: camera calibration URL: file:///home/uavlab/.ros/camera_info/mv_26806357.yaml
[ INFO] [1538040943.892050119]: DepthFilter: RESET.
[ INFO] [1538040943.892151203]: DepthFilter: RESET.
[ERROR] [1538040943.907436868]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040943.959398021]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040943.994905877]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040944.054005901]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040944.088357084]: Initialization failed. Not enough triangulated points.
[ERROR] [1538040944.124202692]: Initialization failed. Not enough triangulated points.

Could anyone help me? Thank you!!!

XU4 benchmark questions

Been trying to benchmark my odroid XU4 with SVO 2.0 and ran into some interesting problems with the camera drivers. It seems like a single camera driver was taking 100% of 1 core on the XU4, a second camera would then take another 100%.

few questions

1. What ros camera driver do you use? ( I have tried out 3-4)
2. Were the XU4 benchmarks run only from ros bags or were they run with camera drivers.

Can you provide a screenshot of the top command from SVO running on the XU4?

"catkin build" fail

Hi,
I am trying to install SVO 2.0 in Ubuntu 16.04 and kinetic.
After following the installation guidelines I get stuck in "catkin build".
I get an error:

_Scanning dependencies of target svo_ros
[ 11%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o
[ 22%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o
[ 33%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o
[ 44%] Building CXX object CMakeFiles/svo_ros.dir/src/visualizer.cpp.o
make[2]: *** No rule to make target '/home/bikram/svo_install_ws/install/lib/libgflags.so', needed by '/home/bikram/svo_install_overlay_ws/devel/lib/libsvo_ros.so'. Stop.
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:416: recipe for target 'CMakeFiles/svo_ros.dir/all' failed
make[1]: *** [CMakeFiles/svo_ros.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
[svo_ros] <== '/home/bikram/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'

Failed <== svo_ros [ 15.4 seconds ]
[build] There were '1' errors:

Failed to build package 'svo_ros' because the following command:

Command to reproduce:

cd /home/bikram/svo_install_overlay_ws/build/svo_ros && /home/bikram/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

Path to log:

cat /home/bikram/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 2_

Any idea what I am doing wrong?
Thanks
Bikram

Problem when running SVO2.0 with external stereo camera

I'm testing SVO2.0 with an external stereo camera with IMU disabled on Ubuntu 16.04 and ROS Kinetic. Now I have some problem when running SVO via fla_stereo_imu.launch. The program seemed not running properly as there was no trajectory of the camera displayed in Rviz and the information in the shell paused at the lines as shown below(no new information when I opened my camera):

while the program worked when I use the fla_stereo_imu.bag provided(even when I set use_imu to False, it still ran successfully). The information which corresponded to the one paused is as shown below:

To make use of the fla_stereo_imu.launch, I have made some modifications to match the external stereo camera:

1. I have changed the intrinsic&extrinsic parameters, and set the coordinate frame of the left camera as the body frame.
2. Without using IMU ,I have set the use_imu to false and set the prior lambdas to zero.
3. In fla_stereo_imu.launch, I have changed the topics of the two camera.
   Is there anything I forget to do in order to make it work? Thanks a lot.

Camera - IMU coordinate frames

Hello

Could you please clarify the coordinate frames used for the camera/imu?

Is it both NED or do you follow this convention:
https://github.com/ethz-asl/rovio/wiki/Coordinate-Frames-and-Notation

thanks in advance

TX2 Installation

I am having trouble installing in TX2. Has anyone else tried doing it?
Here is the error I am getting:
Failed <== svo_ros [ 2.4 seconds ]
[build] There were '1' errors:

Failed to build package 'svo_ros' because the following command:

Command to reproduce:

cd /home/nvidia/svo_install_overlay_ws/build/svo_ros && /home/nvidia/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/cmake /home/nvidia/svo_install_overlay_ws/src/rpg_svo_example/svo_ros -DCATKIN_DEVEL_PREFIX=/home/nvidia/svo_install_overlay_ws/devel -DCMAKE_INSTALL_PREFIX=/home/nvidia/svo_install_overlay_ws/install -DCMAKE_BUILD_TYPE=Release; cd -

Path to log:

cat /home/nvidia/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 1

How about update seeds in exponential family?

Hi,
Have you tried to update the seeds in exponential family?

catkin build error

HI,I tried to install the SVO2.0 as the installation.pdf.
but when I excute the command:"catkin build" I would get this following problem.
I have modified the fix_path(remove the "zichao" to my own path)
In fact when I excute the ./fix_path it will shows"grep: install/include/opengv/test:nor this files or folder"

Profile: default
Extending: [cached] /home/aero/catkin_ws/devel:/opt/ros/kinetic
Workspace: /home/aero/svo_install_overlay_ws

Source Space: [exists] /home/aero/svo_install_overlay_ws/src
Log Space: [exists] /home/aero/svo_install_overlay_ws/logs
Build Space: [exists] /home/aero/svo_install_overlay_ws/build
Devel Space: [exists] /home/aero/svo_install_overlay_ws/devel
Install Space: [unused] /home/aero/svo_install_overlay_ws/install
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '1' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> svo_ros

---

Errors << svo_ros:cmake /home/aero/svo_install_overlay_ws/logs/svo_ros/build.cmake.001.log
CMake Error at /home/aero/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/CMakeLists.txt:4 (find_package):
By not providing "Findcatkin_simple.cmake" in CMAKE_MODULE_PATH this
project has asked CMake to find a package configuration file provided by
"catkin_simple", but CMake did not find one.

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

catkin_simpleConfig.cmake
catkin_simple-config.cmake

Add the installation prefix of "catkin_simple" to CMAKE_PREFIX_PATH or set
"catkin_simple_DIR" to a directory containing one of the above files. If
"catkin_simple" provides a separate development package or SDK, be sure it
has been installed.

cd /home/aero/svo_install_overlay_ws/build/svo_ros; catkin build --get-env svo_ros | catkin env -si /usr/bin/cmake /home/aero/svo_install_overlay_ws/src/rpg_svo_example/svo_ros --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/aero/svo_install_overlay_ws/devel/.private/svo_ros -DCMAKE_INSTALL_PREFIX=/home/aero/svo_install_overlay_ws/install -DCMAKE_BUILD_TYPE=Release; cd -
...............................................................................
Failed << svo_ros:cmake [ Exited with code 1 ]
Failed <<< svo_ros [ 0.2 seconds ]
[build] Summary: 0 of 1 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 0.3 seconds total.

Stereo Fisheye axis.squaredNorm()

I am working with 2 fisheye cameras and trying to run stereo SVO. SVO crashes after only a few seconds with the below error. The issue does not necessarily happen at the same time in my bag file.

F0204 16:55:15.496071  5228 angle-axis-inl.h:112] Check failed: (axis.squaredNorm()) <= (static_cast<Scalar>(1.0))+(static_cast<Scalar>(1e-4)) (-nan vs. 1.0001) 
*** Check failure stack trace: ***
    @     0x7f243965b304  google::LogMessage::Fail()
    @     0x7f243965b248  google::LogMessage::SendToLog()
    @     0x7f243965ab84  google::LogMessage::Flush()
    @     0x7f243965e6ab  google::LogMessageFatal::~LogMessageFatal()
    @     0x7f243e51c9f0  kindr::minimal::AngleAxisTemplate<>::setAxis()
    @     0x7f243e51a93c  svo::Matcher::scanEpipolarUnitSphere()
    @     0x7f243e51bfff  svo::Matcher::findEpipolarMatchDirect()
    @     0x7f243e521106  svo::depth_filter_utils::updateSeed()
    @     0x7f243e52463a  svo::DepthFilter::updateSeeds()
    @     0x7f243e9ad970  svo::FrameHandlerStereo::makeKeyframe()
    @     0x7f243e9b2da6  svo::FrameHandlerStereo::processFrame()
    @     0x7f243e9c7d78  svo::FrameHandlerBase::addFrameBundle()
    @     0x7f243e9c8d50  svo::FrameHandlerBase::addImageBundle()
    @     0x7f2440e52c1c  svo::SvoInterface::stereoCallback()
    @     0x7f2440e5ed98  boost::detail::function::void_function_obj_invoker9<>::invoke()
    @     0x7f2440e6dab9  boost::function9<>::operator()()
    @     0x7f2440e6e169  message_filters::CallbackHelper9T<>::call()
    @     0x7f2440e683b8  message_filters::sync_policies::ExactTime<>::checkTuple()
    @     0x7f2440e6a669  message_filters::Synchronizer<>::cb<>()
    @     0x7f2440e67722  image_transport::SubscriberFilter::cb()
    @     0x7f2428ceba89  image_transport::RawSubscriber::internalCallback()
    @     0x7f243ec8ca7c  boost::detail::function::void_function_obj_invoker1<>::invoke()
    @     0x7f2428cf3613  ros::SubscriptionCallbackHelperT<>::call()
    @     0x7f24411eb44d  ros::SubscriptionQueue::call()
    @     0x7f2441191210  ros::CallbackQueue::callOneCB()
    @     0x7f2441192683  ros::CallbackQueue::callAvailable()
    @     0x7f2440e558db  svo::SvoInterface::stereoLoop()
    @     0x7f2440b57510  (unknown)
    @     0x7f243f3f06ba  start_thread
    @     0x7f24405c141d  clone
    @              (nil)  (unknown)

Here is the bag file I recorded and have been using for debugging
https://drive.google.com/file/d/19wk18eWXSzaSYfriFq7O1hxZRlqIbhti/view?usp=sharing

Here is a video of RVIZ running with the bag file
https://www.youtube.com/watch?v=haNSmDuULG4

From the launch file

    <node pkg="svo_ros" type="svo_node" name="svo" clear_params="true" output="screen" required="true">
    <!-- Camera and IMU topics to subscribe to -->
    <param name="cam1_topic" value="/left/image_raw" type="str" />
    <param name="cam0_topic" value="/right/image_raw" type="str" />
    <param name="calib_file" value="$(find svo_ros)/calib/fisheyeTry2.yaml" type="str" />
    <rosparam file="$(find svo_ros)/param/stereo_fisheye.yaml" />
  </node>

The parameters, calibration, and masks are all here
https://github.com/asgard-mqp/rpg_svo_example

The parameters in particular, I had to hack together euroc_stereo and fisheye so help there would be appreciated.

https://github.com/asgard-mqp/rpg_svo_example/blob/master/svo_ros/param/stereo_fisheye.yaml

catkin build failed

Hi guys
I try to build svo2 in UDOO QUAD ubuntu 14.04 but i got this err:

[svo_ros] ==> '/home/udooer/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' in '/home/udooer/svo_install_overlay_ws/build/svo_ros'
Scanning dependencies of target nodelet_generate_messages_lisp
Scanning dependencies of target sensor_msgs_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_cpp
Scanning dependencies of target svo_msgs_generate_messages_cpp
[ 0%] [ 0%] [ 0%] Built target sensor_msgs_generate_messages_lisp
Built target geometry_msgs_generate_messages_cpp
Built target nodelet_generate_messages_lisp
[ 0%] Built target svo_msgs_generate_messages_cpp
Scanning dependencies of target nodelet_generate_messages_py
Scanning dependencies of target tf_generate_messages_cpp
Scanning dependencies of target nav_msgs_generate_messages_lisp
[ 0%] Scanning dependencies of target geometry_msgs_generate_messages_lisp
Built target nodelet_generate_messages_py
[ 0%] [ 0%] Built target tf_generate_messages_cpp
Built target nav_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_lisp
Scanning dependencies of target visualization_msgs_generate_messages_cpp
Scanning dependencies of target bond_generate_messages_py
Scanning dependencies of target bond_generate_messages_lisp
[ 0%] Scanning dependencies of target std_msgs_generate_messages_lisp
Built target visualization_msgs_generate_messages_cpp
[ 0%] [ 0%] Built target bond_generate_messages_lisp
Scanning dependencies of target bond_generate_messages_cpp
Built target bond_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Scanning dependencies of target tf2_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_cpp
Built target bond_generate_messages_cpp
Scanning dependencies of target sensor_msgs_generate_messages_cpp
[ 0%] Scanning dependencies of target actionlib_msgs_generate_messages_cpp
Built target tf2_msgs_generate_messages_lisp
[ 0%] [ 0%] Built target std_msgs_generate_messages_cpp
Built target sensor_msgs_generate_messages_cpp
[ 0%] Scanning dependencies of target nav_msgs_generate_messages_py
Built target actionlib_msgs_generate_messages_cpp
Scanning dependencies of target roscpp_generate_messages_lisp
Scanning dependencies of target nav_msgs_generate_messages_cpp
[ 0%] Built target nav_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_py
[ 0%] Built target nav_msgs_generate_messages_cpp
[ 0%] Scanning dependencies of target tf_generate_messages_py
Built target roscpp_generate_messages_lisp
[ 0%] Scanning dependencies of target nodelet_generate_messages_cpp
Built target std_msgs_generate_messages_py
[ 0%] Built target tf_generate_messages_py
Scanning dependencies of target roscpp_generate_messages_py
[ 0%] Built target nodelet_generate_messages_cpp
Scanning dependencies of target rosgraph_msgs_generate_messages_cpp
Scanning dependencies of target geometry_msgs_generate_messages_py
[ 0%] Scanning dependencies of target roscpp_generate_messages_cpp
Built target roscpp_generate_messages_py
[ 0%] Built target rosgraph_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target roscpp_generate_messages_cpp
Scanning dependencies of target actionlib_msgs_generate_messages_py
Scanning dependencies of target rosgraph_msgs_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_lisp
Scanning dependencies of target rosgraph_msgs_generate_messages_py
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] [ 0%] Built target actionlib_msgs_generate_messages_lisp
Built target rosgraph_msgs_generate_messages_lisp
[ 0%] Built target rosgraph_msgs_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_py
Scanning dependencies of target visualization_msgs_generate_messages_py
Scanning dependencies of target visualization_msgs_generate_messages_lisp
Scanning dependencies of target tf_generate_messages_lisp
[ 0%] Built target visualization_msgs_generate_messages_lisp
[ 0%] [ 0%] Built target sensor_msgs_generate_messages_py
Built target visualization_msgs_generate_messages_py
[ 0%] Built target tf_generate_messages_lisp
Scanning dependencies of target actionlib_generate_messages_lisp
Scanning dependencies of target actionlib_generate_messages_cpp
Scanning dependencies of target tf2_msgs_generate_messages_cpp
Scanning dependencies of target svo_msgs_generate_messages_py
[ 0%] [ 0%] Built target actionlib_generate_messages_lisp
[ 0%] Built target tf2_msgs_generate_messages_cpp
Built target actionlib_generate_messages_cpp
[ 0%] Built target svo_msgs_generate_messages_py
Scanning dependencies of target tf2_msgs_generate_messages_py
Scanning dependencies of target svo_msgs_generate_messages_lisp
Scanning dependencies of target actionlib_generate_messages_py
[ 0%] Built target tf2_msgs_generate_messages_py
[ 0%] Built target svo_msgs_generate_messages_lisp
[ 0%] Built target actionlib_generate_messages_py
Scanning dependencies of target svo_ros
[ 16%] [ 33%] [ 50%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o
[ 66%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o
Building CXX object CMakeFiles/svo_ros.dir/src/visualizer.cpp.o
Building CXX object CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o
In file included from /home/udooer/svo_install_ws/install/include/svo/direct/matcher.h:12:0,
from /home/udooer/svo_install_ws/install/include/svo/direct/depth_filter.h:17,
from /home/udooer/svo_install_ws/install/include/svo/svo.h:9,
from /home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/svo_factory.cpp:2:
/home/udooer/svo_install_ws/install/include/svo/common/types.h:6:22: fatal error: Eigen/Core: No such file or directory
#include <Eigen/Core>
^
compilation terminated.
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/svo_interface.h:11:0,
from /home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/svo_node_base.h:3,
from /home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/svo_node_base.cpp:1:
/home/udooer/svo_install_ws/install/include/svo/common/types.h:6:22: fatal error: Eigen/Core: No such file or directory
#include <Eigen/Core>
^
compilation terminated.
In file included from /home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/svo_interface.h:11:0,
from /home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/svo_interface.cpp:1:
/home/udooer/svo_install_ws/install/include/svo/common/types.h:6:22: fatal error: Eigen/Core: No such file or directory
#include <Eigen/Core>
^
compilation terminated.
In file included from /home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/visualizer.cpp:6:0:
/home/udooer/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/visualizer.h:23:33: fatal error: pcl_ros/point_cloud.h: No such file or directory
#include <pcl_ros/point_cloud.h>
^
compilation terminated.
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o] Error 1
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o] Error 1
make[2]: *** [CMakeFiles/svo_ros.dir/src/visualizer.cpp.o] Error 1
make[1]: *** [CMakeFiles/svo_ros.dir/all] Error 2
make: *** [all] Error 2
[svo_ros] <== '/home/udooer/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'

Failed <== svo_ros [ 1 minute and 26.4 seconds ]
[build] There were '1' errors:

Failed to build package 'svo_ros' because the following command:

Command to reproduce:

cd /home/udooer/svo_install_overlay_ws/build/svo_ros && /home/udooer/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

Path to log:

cat /home/udooer/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 2

Problem to make build SVO 2.0

Hi, I have SVO installed successfully and I am trying to use SVO 2.0.

Using the pdf steps attached in .zip, when I execute the command: ** catkin build **
I had the following problem:

ubuntu@ubuntu-K46CA:~/svo_install_overlay_ws$ catkin build

Profile: default
Extending: [cached] /home/ubuntu/svo_install_ws/install:/opt/ros/kinetic
Workspace: /home/ubuntu/svo_install_overlay_ws

Source Space: [exists] /home/ubuntu/svo_install_overlay_ws/src
Log Space: [exists] /home/ubuntu/svo_install_overlay_ws/logs
Build Space: [exists] /home/ubuntu/svo_install_overlay_ws/build
Devel Space: [exists] /home/ubuntu/svo_install_overlay_ws/devel
Install Space: [unused] /home/ubuntu/svo_install_overlay_ws/install
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '1' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> svo_ros

---

Errors << svo_ros:make /home/ubuntu/svo_install_overlay_ws/logs/svo_ros/build.make.000.log
make[2]: No rule to make target '/home/zichao/svo_install_ws/install/lib/libgflags.so', needed by '/home/ubuntu/svo_install_overlay_ws/devel/.private/svo_ros/lib/libsvo_ros.so'. Stop.
make[1]: [CMakeFiles/svo_ros.dir/all] Error 2
make: [all] Error 2
cd /home/ubuntu/svo_install_overlay_ws/build/svo_ros; catkin build --get-env svo_ros | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
..............................................................................................................
Failed << svo_ros:make [ Exited with code 2 ]
Failed <<< svo_ros [ 0.9 seconds ]
[build] Summary: 0 of 1 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 1.0 seconds total.

someone can help me?

I know it might be something related to the "zichao" paths. I already replace this word with "ubuntu", the name of my machine, in all files that contain this word, but did not solve.

fatal error: svo/common/types.h: No such file or directory

Hi, while catkin build, i got error-

~/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/svo_interface.h:11:30: fatal error: svo/common/types.h: No such file or directory
#include <svo/common/types.h>
^
compilation terminated.
CMakeFiles/svo_ros.dir/build.make:62: recipe for target 'CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o' failed
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o] Error 1
CMakeFiles/Makefile2:404: recipe for target 'CMakeFiles/svo_ros.dir/all' failed
make[1]: *** [CMakeFiles/svo_ros.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

Any solution?
Thanks.

catkin build error when installing SVO on ARM

I met some problems when installing svo on Odroid XU4 with ubuntu 14.04.1 LTS and ROS indigo. When I built the svo_install_overlay_ws by typing "catkin build", the following error information came out:

In file included from /home/odroid/svo_install_ws/install/include/svo/direct/matcher.h:12:0,
                 from /home/odroid/svo_install_ws/install/include/svo/direct/depth_filter.h:17,
                 from /home/odroid/svo_install_ws/install/include/svo/svo.h:9,
                 from /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/svo_factory.cpp:2:
/home/odroid/svo_install_ws/install/include/svo/common/types.h:6:22: fatal error: Eigen/Core: No such file or directory
 #include <Eigen/Core>
                      ^
compilation terminated.
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/svo_interface.h:11:0,
                 from /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/svo_node_base.h:3,
                 from /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/svo_node_base.cpp:1:
/home/odroid/svo_install_ws/install/include/svo/common/types.h:6:22: fatal error: Eigen/Core: No such file or directory
 #include <Eigen/Core>
                      ^
compilation terminated.
In file included from /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/svo_interface.h:11:0,
                 from /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/svo_interface.cpp:1:
/home/odroid/svo_install_ws/install/include/svo/common/types.h:6:22: fatal error: Eigen/Core: No such file or directory
 #include <Eigen/Core>
                      ^
compilation terminated.
In file included from /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/src/visualizer.cpp:6:0:
/home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/include/svo_ros/visualizer.h:23:33: fatal error: pcl_ros/point_cloud.h: No such file or directory
 #include <pcl_ros/point_cloud.h>
                                 ^
compilation terminated.
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o] Error 1
make[2]: *** [CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o] Error 1
make[2]: *** [CMakeFiles/svo_ros.dir/src/visualizer.cpp.o] Error 1
make[1]: *** [CMakeFiles/svo_ros.dir/all] Error 2
make: *** [all] Error 2
[svo_ros] <== '/home/odroid/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,5 -j' failed with return code '2'
                                                                                 
Failed   <== svo_ros [ 36.8 seconds ]                                           
[build] There were '1' errors:                                                  

Failed to build package 'svo_ros' because the following command:

# Command to reproduce:
cd /home/odroid/svo_install_overlay_ws/build/svo_ros && /home/odroid/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j; cd -

# Path to log:
cat /home/odroid/svo_install_overlay_ws/build/build_logs/svo_ros.log

Exited with return code: 2

It seemed that this error connected to eigen, but I still don't know how to solve it.

Can it work with Intel realsense camera?

Hi all,
I am curious about that can this package work with intel realsense R200 or ZR300 ?
Thanks in advance.

In Stereo+IMU mode, the EuRoC V102 trajectory jumps a lot!

Thanks for your sharing!
I customize below three config files for EuRoC V102 dataset, and test your binary:
The launch file:

The calib file:

The param file:

And the test completely runs to the end of the dataset, however, the trajectory jumps in the middle part, and I cannot get a continuous trajectory. Below is my running:

Can I know the reason why this happened? Do I give the wrong params, e.g. params of the IMU?

ROS publish Odom

Currently to run a lot of ros built in systems /odom needs to be published in addition to TF. Could the live position and velocity estimate be published there as well? The velocity is the important part I am looking for.

Explanation can be seen here

The navigation stack uses tf to determine the robot's location in the world and relate sensor data to a static map. However, tf does not provide any information about the velocity of the robot. Because of this, the navigation stack requires that any odometry source publish both a transform and a nav_msgs/Odometry message over ROS that contains velocity information. This tutorial explains the nav_msgs/Odometry message and provides example code for publishing both the message and transform over ROS and tf respectively.

http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom

catkin build

Hi guys
I try to build svo2 in odroid xu4 ubuntu 14.04 but i got this err:
/root/svo_install_ws/install/lib/libsvo.so: file not recognized: File format not recognized
and this is my out put from build:

root@odroid-server:~/svo_install_overlay_ws# cat /root/svo_install_overlay_ws/build/build_logs/svo_ros.log
[svo_ros] ==> '/root/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/cmake /root/svo_install_overlay_ws/src/rpg_svo_example/svo_ros -DCATKIN_DEVEL_PREFIX=/root/svo_install_overlay_ws/devel -DCMAKE_INSTALL_PREFIX=/root/svo_install_overlay_ws/install -DCMAKE_BUILD_TYPE=Release' in '/root/svo_install_overlay_ws/build/svo_ros'
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Using CATKIN_DEVEL_PREFIX: /root/svo_install_overlay_ws/devel
-- Using CMAKE_PREFIX_PATH: /root/svo_install_ws/install;/opt/ros/indigo
-- This workspace overlays: /root/svo_install_ws/install;/opt/ros/indigo
-- Found PythonInterp: /usr/bin/python (found version "2.7.6") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /root/svo_install_overlay_ws/build/svo_ros/test_results
-- Looking for include file pthread.h
-- Looking for include file pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.19
-- Using these message generators: gencpp;genlisp;genpy
-- Marking SHARED_LIBRARY "svo_ros" of package "svo_ros" for installation
-- Marking EXECUTABLE "svo_node" of package "svo_ros" for installation
-- Marking SHARED_LIBRARY "svo_nodelet" of package "svo_ros" for installation
-- Marking HEADER FILES in "include" folder of package "svo_ros" for installation
-- Marking SHARED CONTENT FOLDER "launch" of package "svo_ros" for installation
-- Marking SHARED CONTENT FOLDER "param" of package "svo_ros" for installation
-- Configuring done
-- Generating done
-- Build files have been written to: /root/svo_install_overlay_ws/build/svo_ros
[svo_ros] <== '/root/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/cmake /root/svo_install_overlay_ws/src/rpg_svo_example/svo_ros -DCATKIN_DEVEL_PREFIX=/root/svo_install_overlay_ws/devel -DCMAKE_INSTALL_PREFIX=/root/svo_install_overlay_ws/install -DCMAKE_BUILD_TYPE=Release' finished with return code '0'
[svo_ros] ==> '/root/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' in '/root/svo_install_overlay_ws/build/svo_ros'
Scanning dependencies of target topic_tools_generate_messages_cpp
Scanning dependencies of target geometry_msgs_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_lisp
Scanning dependencies of target geometry_msgs_generate_messages_py
Scanning dependencies of target actionlib_msgs_generate_messages_py
Scanning dependencies of target nodelet_generate_messages_cpp
Scanning dependencies of target nodelet_generate_messages_lisp
Scanning dependencies of target rosgraph_msgs_generate_messages_py
[  0%] [  0%] [  0%] Built target topic_tools_generate_messages_cpp
Built target actionlib_msgs_generate_messages_lisp
Built target geometry_msgs_generate_messages_lisp
[  0%] [  0%] [  0%] [  0%] Built target actionlib_msgs_generate_messages_py
Built target nodelet_generate_messages_cpp
Built target geometry_msgs_generate_messages_py
[  0%] Built target nodelet_generate_messages_lisp
Built target rosgraph_msgs_generate_messages_py
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target nav_msgs_generate_messages_lisp
Scanning dependencies of target rosgraph_msgs_generate_messages_cpp
Scanning dependencies of target roscpp_generate_messages_py
Scanning dependencies of target geometry_msgs_generate_messages_cpp
Scanning dependencies of target nav_msgs_generate_messages_py
Scanning dependencies of target bond_generate_messages_cpp
Scanning dependencies of target bond_generate_messages_lisp
[  0%] [  0%] [  0%] Built target std_msgs_generate_messages_py
[  0%] [  0%] Built target nav_msgs_generate_messages_lisp
Built target roscpp_generate_messages_py
[  0%] Built target rosgraph_msgs_generate_messages_cpp
Built target geometry_msgs_generate_messages_cpp
Built target nav_msgs_generate_messages_py
[  0%] Built target bond_generate_messages_cpp
[  0%] Scanning dependencies of target nodelet_generate_messages_py
Built target bond_generate_messages_lisp
Scanning dependencies of target bond_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_cpp
Scanning dependencies of target nav_msgs_generate_messages_cpp
Scanning dependencies of target sensor_msgs_generate_messages_lisp
Scanning dependencies of target visualization_msgs_generate_messages_py
[  0%] [  0%] Built target bond_generate_messages_py
Built target nodelet_generate_messages_py
[  0%] [  0%] [  0%] Built target sensor_msgs_generate_messages_lisp
Built target sensor_msgs_generate_messages_cpp
Scanning dependencies of target dynamic_reconfigure_gencfg
[  0%] Built target nav_msgs_generate_messages_cpp
Built target visualization_msgs_generate_messages_py
Scanning dependencies of target tf_generate_messages_py
[  0%] Scanning dependencies of target visualization_msgs_generate_messages_cpp
Scanning dependencies of target roscpp_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_cpp
Built target dynamic_reconfigure_gencfg
Scanning dependencies of target sensor_msgs_generate_messages_py
Scanning dependencies of target tf_generate_messages_lisp
[  0%] Scanning dependencies of target visualization_msgs_generate_messages_lisp
[  0%] [  0%] Built target tf_generate_messages_py
Built target roscpp_generate_messages_lisp
Built target visualization_msgs_generate_messages_cpp
[  0%] [  0%] [  0%] Built target actionlib_msgs_generate_messages_cpp
Built target sensor_msgs_generate_messages_py
Built target tf_generate_messages_lisp
Scanning dependencies of target rosgraph_msgs_generate_messages_lisp
[  0%] Built target visualization_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target roscpp_generate_messages_cpp
Scanning dependencies of target std_msgs_generate_messages_lisp
[  0%] Scanning dependencies of target tf_generate_messages_cpp
Scanning dependencies of target pcl_ros_gencfg
Built target rosgraph_msgs_generate_messages_lisp
[  0%] [  0%] Scanning dependencies of target dynamic_reconfigure_generate_messages_lisp
[  0%] Built target std_msgs_generate_messages_cpp
Built target roscpp_generate_messages_cpp
Built target std_msgs_generate_messages_lisp
[  0%] Scanning dependencies of target actionlib_generate_messages_cpp
[  0%] Built target pcl_ros_gencfg
Scanning dependencies of target actionlib_generate_messages_py
Scanning dependencies of target actionlib_generate_messages_lisp
[  0%] Built target dynamic_reconfigure_generate_messages_lisp
Built target tf_generate_messages_cpp
Scanning dependencies of target tf2_msgs_generate_messages_lisp
Scanning dependencies of target tf2_msgs_generate_messages_cpp
[  0%] Built target actionlib_generate_messages_cpp
[  0%] [  0%] [  0%] Built target actionlib_generate_messages_py
Built target actionlib_generate_messages_lisp
Built target tf2_msgs_generate_messages_lisp
[  0%] Built target tf2_msgs_generate_messages_cpp
Scanning dependencies of target tf2_msgs_generate_messages_py
Scanning dependencies of target svo_msgs_generate_messages_py
Scanning dependencies of target svo_msgs_generate_messages_lisp
[  0%] Scanning dependencies of target svo_msgs_generate_messages_cpp
Built target tf2_msgs_generate_messages_py
Scanning dependencies of target dynamic_reconfigure_generate_messages_py
Scanning dependencies of target pcl_msgs_generate_messages_cpp
[  0%] [  0%] Scanning dependencies of target dynamic_reconfigure_generate_messages_cpp
Built target svo_msgs_generate_messages_py
Scanning dependencies of target pcl_msgs_generate_messages_lisp
Built target svo_msgs_generate_messages_lisp
[  0%] [  0%] Scanning dependencies of target topic_tools_generate_messages_py
Built target svo_msgs_generate_messages_cpp
[  0%] Built target dynamic_reconfigure_generate_messages_py
Built target pcl_msgs_generate_messages_cpp
[  0%] [  0%] [  0%] Built target dynamic_reconfigure_generate_messages_cpp
Built target pcl_msgs_generate_messages_lisp
Built target topic_tools_generate_messages_py
Scanning dependencies of target pcl_msgs_generate_messages_py
Scanning dependencies of target topic_tools_generate_messages_lisp
[  0%] Built target pcl_msgs_generate_messages_py
[  0%] Built target topic_tools_generate_messages_lisp
Scanning dependencies of target svo_ros
[ 16%] [ 33%] [ 50%] [ 66%] Building CXX object CMakeFiles/svo_ros.dir/src/svo_interface.cpp.o
Building CXX object CMakeFiles/svo_ros.dir/src/svo_factory.cpp.o
Building CXX object CMakeFiles/svo_ros.dir/src/visualizer.cpp.o
Building CXX object CMakeFiles/svo_ros.dir/src/svo_node_base.cpp.o
Linking CXX shared library /root/svo_install_overlay_ws/devel/lib/libsvo_ros.so
/root/svo_install_ws/install/lib/libsvo.so: file not recognized: File format not recognized
collect2: error: ld returned 1 exit status
make[2]: *** [/root/svo_install_overlay_ws/devel/lib/libsvo_ros.so] Error 1
make[1]: *** [CMakeFiles/svo_ros.dir/all] Error 2
make: *** [all] Error 2
[svo_ros] <== '/root/svo_install_overlay_ws/build/svo_ros/build_env.sh /usr/bin/make --jobserver-fds=3,4 -j' failed with return code '2'