vo关了，效果一样？

Hello,I meet this problems when catkin_make , where is the problems? what should we do ?

problems:
/catkin_ws/devel/lib/libimage_util.so：对‘cv::imshow(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, cv::_InputArray const&)’未定义的引用
/catkin_ws/devel/lib/libimage_util.so：对‘cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, int)’未定义的引用
....

When I launch the vloam and public the topic to run the bag file, the error appear.
`ysy@ysy-To-be-filled-by-O-E-M:~/catkin/vloam/VLOAM-NOTED-master$ roslaunch vloam_main vloam_main.launch
... logging to /home/ysy/.ros/log/c999d416-6397-11ec-adfc-200db02d4198/roslaunch-ysy-To-be-filled-by-O-E-M-5684.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ysy-To-be-filled-by-O-E-M:37497/

SUMMARY

PARAMETERS

• /CLAHE: False
• /detach_VO_LO: True
• /keypoint_NMS: False
• /loam_verbose_level: 1
• /map_pub_number: 20
• /mapping_line_resolution: 0.4
• /mapping_plane_resolution: 0.8
• /mapping_skip_frame: 1
• /minimum_range: 5.0
• /optical_flow_match: False
• /remove_VO_outlier: 100
• /reset_VO_to_identity: False
• /rosdistro: melodic
• /rosversion: 1.14.12
• /scan_line: 64
• /visualize_optical_flow: True
• /vloam_main_node/publish_point_cloud: True
• /vloam_main_node/rosbag_rate: 0.33
• /vloam_main_node/save_traj: True
• /vloam_main_node/visualize_depth: False

NODES
/
rviz (rviz/rviz)
vloam_main_node (vloam_main/vloam_main_node)

ROS_MASTER_URI=http://localhost:11311

process[vloam_main_node-1]: started with pid [5699]
process[rviz-2]: started with pid [5700]
[ WARN] [1640231903.940193533]: Shutdown request received.
[ WARN] [1640231903.940258711]: Reason given for shutdown: [[/rviz] Reason: new node registered with same name]
[ INFO] [1640231920.634819865]:
LO file path; /home/ysy/catkin/vloam/VLOAM-NOTED-master/src/vloam_main/results/2011_09_30_drive_0020/LO1.txt

vloam_main_node: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:128: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 32>::plain_array() [with T = float; int Size = 16; int MatrixOrArrayOptions = 0]: Assertion (internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (31)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed. [vloam_main_node-1] process has died [pid 5699, exit code -6, cmd /home/ysy/catkin/vloam/VLOAM-NOTED-master/devel/lib/vloam_main/vloam_main_node __name:=vloam_main_node __log:=/home/ysy/.ros/log/c999d416-6397-11ec-adfc-200db02d4198/vloam_main_node-1.log]. log file: /home/ysy/.ros/log/c999d416-6397-11ec-adfc-200db02d4198/vloam_main_node-1*.log
Can you give me some advice how to fix it? Thanks for your reply.

Hi, I have OpenCV 4.5.1 installed and when I catkin_make I get the following error. May I know what ubuntu version you used for the original version?

make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libconsole_bridge.soopencv_ml', needed by '/home/dilaxy/BVLOAM_ws/devel/lib/libimage_util.so'. Stop.
CMakeFiles/Makefile2:2626: recipe for target 'visual_odometry/CMakeFiles/image_util.dir/all' failed
make[1]: *** [visual_odometry/CMakeFiles/image_util.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 3%] Built target vloam_tf
make[2]: *** No rule to make target '/usr/lib/x86_64-linux-gnu/libconsole_bridge.soopencv_ml', needed by '/home/dilaxy/BVLOAM_ws/devel/lib/libpoint_cloud_util.so'. Stop.
CMakeFiles/Makefile2:2702: recipe for target 'visual_odometry/CMakeFiles/point_cloud_util.dir/all' failed
make[1]: *** [visual_odometry/CMakeFiles/point_cloud_util.dir/all] Error 2

Hello, this work is very valuable and I want to test on my own data set, what should I do?

Hi.

I am having a problem when I try step4 in this page
https://github.com/YukunXia/VLOAM-CMU-16833/tree/master/src/vloam_main#usage-1

I follow this page and use roptopic pub.
But, my roslaunch terminal showed error "[vloam_main_node-1] process has died [pid 4477, exit code -11, .."

I am not sure whether I am missing something here.
Any help is much appreciated.

Hello Yukun,
Have you attempted to use any other dataset for your implementation? If so, any suggestions for that?

hello, after i changed the code to do real slam(haven't calibrate radar and camera), when i launch the file, the following error occurred, do you have any suggestions? I have no idea about the imu_link, i only find it in .rviz file

Hi,

I am having a little trouble obtaining the results from this package. I have saved my kitti rosbag files in /VLOAM_ws/src/vloam_main/bags. I ran the command roslaunch vloam_main vloam_main.launch which opens rviz and then in a separate terminal I ran my rosbag files.

At this point should I see any results in rviz? At the end of the rosbag file I checked whether any results are saved in /VLOAM_ws/src/vloam_main/results but there were none even though I have made save_traj, true. I am not sure whether I am missing something here.

Any help is much appreciated.

I have OpenCV 4.5.3 but I am getting the following errors when I tried to build the package. Is it because SIFT is no longer available in OpenCV? (for the second error)

/home/didula/BVLOAM_ws/src/visual_odometry/src/image_util.cpp: In member function ‘std::vectorcv::KeyPoint vloam::ImageUtil::detKeypoints(cv::Mat&)’:
/home/didula/BVLOAM_ws/src/visual_odometry/src/image_util.cpp:56:7: error: ‘ScoreType’ is not a member of ‘cv::ORB’
cv::ORB::ScoreType scoreType = cv::ORB::FAST_SCORE;
^
/home/didula/BVLOAM_ws/src/visual_odometry/src/image_util.cpp:59:104: error: ‘scoreType’ was not declared in this scope
detector = cv::ORB::create(num_features, scaleFactor, nlevels, edgeThreshold, firstLevel, WTA_K, scoreType,
^
/home/didula/BVLOAM_ws/src/visual_odometry/src/image_util.cpp:65:22: error: ‘cv::SIFT’ has not been declared
detector = cv::SIFT::create();
^
/home/didula/BVLOAM_ws/src/visual_odometry/src/image_util.cpp: In member function ‘cv::Mat vloam::ImageUtil::descKeypoints(std::vectorcv::KeyPoint&, cv::Mat&)’:
/home/didula/BVLOAM_ws/src/visual_odometry/src/image_util.cpp:192:21: error: ‘cv::SIFT’ has not been declared
extractor = cv::SIFT::create();
^
visual_odometry/CMakeFiles/image_util.dir/build.make:62: recipe for target 'visual_odometry/CMakeFiles/image_util.dir/src/image_util.cpp.o' failed
make[2]: *** [visual_odometry/CMakeFiles/image_util.dir/src/image_util.cpp.o] Error 1
CMakeFiles/Makefile2:2626: recipe for target 'visual_odometry/CMakeFiles/image_util.dir/all' failed
make[1]: *** [visual_odometry/CMakeFiles/image_util.dir/all] Error 2

Thanks.
when I roslaunch this,
process[vloam_main_node -1]: started with pid [18081]
process[rviz-2]: started with pid [18082]
[ERROR] [1626056112.350555675]: Tried to advertise a service that is already advertised in this node [/rviz/compressed/setparameters]
There is nothing when I play the bag.

Originally posted by @wwq985 in #4 (comment)

@wwq985 Please post all your running steps, and the output screenshots here. Also, please attach your system information, eg. which OS and which version.

Hello, this is a great job. I have a problem. I don't see the subscription /tf information in vloam_main.cpp, but in rqt_graph I do. May I ask where this topic is processed? In addition, I want to run other data sets(https://github.com/SJTU-ViSYS/M2DGR), and there is no information about /tf topic in this data set, what should I do?

Hello Yukun,
Thank you for such a great implementation. My team and I have been trying to implement your repo but are running into the following issue. Could you please guide us in any possible way?

Thank you!

I am getting a linking error to OpenCV in catkin_make. I am using ros melodic and Ubuntu 18.04.5. Have you faced this issue?

[ 92%] Built target laser_mapping
[ 94%] Building CXX object VLOAM-CMU-16833/src/lidar_odometry_mapping/CMakeFiles/lidar_odometry_mapping.dir/src/lidar_odometry_mapping.cpp.o
[ 96%] Linking CXX shared library /home/beastv2/catkin_ws/devel/lib/liblidar_odometry_mapping.so
[ 96%] Built target lidar_odometry_mapping
[ 98%] Building CXX object VLOAM-CMU-16833/src/vloam_main/CMakeFiles/vloam_main_node.dir/src/vloam_main_node.cpp.o
[100%] Linking CXX executable /home/beastv2/catkin_ws/devel/lib/vloam_main/vloam_main_node
/home/beastv2/catkin_ws/devel/lib/libimage_util.so: undefined reference to cv::imshow(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, cv::_InputArray const&)' /home/beastv2/catkin_ws/devel/lib/libimage_util.so: undefined reference to cv::namedWindow(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, int)'
/home/beastv2/catkin_ws/devel/lib/libimage_util.so: undefined reference to cv::calcOpticalFlowPyrLK(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputOutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::Size_<int>, int, cv::TermCriteria, int, double)' /home/beastv2/catkin_ws/devel/lib/libimage_util.so: undefined reference to cv::waitKey(int)'
/home/beastv2/catkin_ws/devel/lib/libpoint_cloud_util.so: undefined reference to `cv::setMouseCallback(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, void ()(int, int, int, int, void), void*)'
collect2: error: ld returned 1 exit status
VLOAM-CMU-16833/src/vloam_main/CMakeFiles/vloam_main_node.dir/build.make:975: recipe for target '/home/beastv2/catkin_ws/devel/lib/vloam_main/vloam_main_node' failed
make[2]: *** [/home/beastv2/catkin_ws/devel/lib/vloam_main/vloam_main_node] Error 1
CMakeFiles/Makefile2:2542: recipe for target 'VLOAM-CMU-16833/src/vloam_main/CMakeFiles/vloam_main_node.dir/all' failed
make[1]: *** [VLOAM-CMU-16833/src/vloam_main/CMakeFiles/vloam_main_node.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

I'm sorry to bother you. l have a problem which I can't run the "demo_lidar" with kitti. Do you know how to run it with the kitti.
I will appreciate if you can repply to me.

/usr/bin/ld: cannot find -lvloam_tf
collect2: error: ld returned 1 exit status

Hello,

I have been trying to build the code but always I get this issue in the visual_odometry and the lidar_odometry_mapping packages so it would be great if you know a way to solve it.

p.s great work, one of the best results I have seen regarding the area of SLAM