ccnyroboticslab / ccny_rgbd_tools Goto Github PK

Thank you for providing this package,I want to compile this package,but when I tried to run :rosmake --pre-lcean ccny_rgbd_tools ,I have got this error:

/usr/include/boost/smart_ptr/shared_ptr.hpp:187:50: error: cannot convert ‘int_’ to ‘rgbdtools::FeatureDetector_’ in initialization
/usr/include/boost/smart_ptr/shared_ptr.hpp: In constructor ‘boost::shared_ptr::shared_ptr(Y_) [with Y = int, T = rgbdtools::FeatureDetector]’:
/usr/include/boost/smart_ptr/shared_ptr.hpp:392:9: instantiated from ‘void boost::shared_ptr::reset(Y_) [with Y = int, T = rgbdtools::FeatureDetector]’
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/visual_odometry.cpp:235:58: instantiated from here
/usr/include/boost/smart_ptr/shared_ptr.hpp:187:50: error: cannot convert ‘int_’ to ‘rgbdtools::FeatureDetector_’ in initialization
make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/apps/feature_viewer.cpp.o] Error 1
make[3]: *** Waiting for unfinished jobs....
[ 90%] Building CXX object CMakeFiles/keyframe_mapper_node.dir/src/apps/keyframe_mapper.cpp.o
[ 92%] Building CXX object CMakeFiles/keyframe_mapper_node.dir/src/util.cpp.o
make[3]: Leaving directory /home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build' make[2]: *** [CMakeFiles/feature_viewer_node.dir/all] Error 2 make[2]: *** Waiting for unfinished jobs.... make[3]: *** [CMakeFiles/visual_odometry_node.dir/src/apps/visual_odometry.cpp.o] Error 1 make[3]: *** Waiting for unfinished jobs.... make[3]: Leaving directory/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/visual_odometry_node.dir/all] Error 2
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp: In function ‘void ccny_rgbd::pathEigenAffineToROS(const AffineTransformVector&, ccny_rgbd::PathMsg&)’:
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:333:37: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp: In function ‘void ccny_rgbd::pathROSToEigenAffine(const PathMsg&, ccny_rgbd::AffineTransformVector&)’:
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:347:37: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp: In member function ‘void ccny_rgbd::KeyframeMapper::buildOctomap(octomap::OcTree&)’:
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp:755:63: warning: ‘void octomap::OccupancyOcTreeBase::insertScan(const octomap::Pointcloud&, const point3d&, const pose6d&, double, bool, bool) [with NODE = octomap::OcTreeNode, octomap::point3d = octomath::Vector3, octomap::pose6d = octomath::Pose6D]’ is deprecated (declared at /opt/ros/hydro/include/octomap/OccupancyOcTreeBase.h:142) [-Wdeprecated-declarations]
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp: In member function ‘void ccny_rgbd::KeyframeMapper::buildColorOctomap(octomap::ColorOcTree&)’:
/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp:796:63: warning: ‘void octomap::OccupancyOcTreeBase::insertScan(const octomap::Pointcloud&, const point3d&, const pose6d&, double, bool, bool) [with NODE = octomap::ColorOcTreeNode, octomap::point3d = octomath::Vector3, octomap::pose6d = octomath::Pose6D]’ is deprecated (declared at /opt/ros/hydro/include/octomap/OccupancyOcTreeBase.h:142) [-Wdeprecated-declarations]
Linking CXX shared library ../lib/librgbd_image_proc_app.so
make[3]: Leaving directory /home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build' [ 92%] Built target rgbd_image_proc_app Linking CXX executable ../bin/keyframe_mapper_node /usr/bin/ld: warning: libpcl_sample_consensus.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_sample_consensus.so.1.7 /usr/bin/ld: warning: libpcl_search.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_search.so.1.7 /usr/bin/ld: warning: libpcl_kdtree.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_kdtree.so.1.7 /usr/bin/ld: warning: libpcl_octree.so.1.8, needed by /usr/local/lib/libpcl_filters.so, may conflict with libpcl_octree.so.1.7 /usr/bin/ld: warning: libpcl_features.so.1.8, needed by /usr/local/lib/libpcl_segmentation.so, may conflict with libpcl_features.so.1.7 /usr/bin/ld: warning: libpcl_common.so.1.7, needed by /usr/lib/libpcl_kdtree.so, may conflict with libpcl_common.so.1.8 make[3]: Leaving directory/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build'
[ 92%] Built target keyframe_mapper_node
make[2]: Leaving directory /home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build' make[1]: *** [all] Error 2 make[1]: Leaving directory/home/ycb13/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package ccny_rgbd written to:
[ rosmake ] /home/ycb13/.ros/rosmake/rosmake_output-20141108-165322/ccny_rgbd/build_output.log
[rosmake-0] Finished <<< ccny_rgbd [FAIL] [ 45.64 seconds ]
[ rosmake ] Halting due to failure in package ccny_rgbd.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Cleaned 72 packages.
[ rosmake ] Built 72 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/ycb13/.ros/rosmake/rosmake_output-20141108-165322

Can you help me to solve this problem?In advance thank you!

Hi there,

Is there any plans on creating an alternative branch so to use CUDA processing for the feature extraction and keyframe mapping?

Thanks in advance!

Hey,

I am trying to compile ccny_rgbd_tools (master branch) on ROS Hydro, ubuntu 12.04. (After struggling with issue #42 ).

I run the rosdep install command, and it installs libg2o. (ros-hydro-libg2o).
Then I get these errors:

Linking CXX shared library lib/librgbdtools.so
make[3]: Leaving directory /home/tanmay/hydro_workspace/sisl_sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build' [ 87%] Built target rgbdtools make[3]: Entering directory/home/tanmay/hydro_workspace/sisl_sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build'
Scanning dependencies of target global_cloud_align
make[3]: Leaving directory /home/tanmay/hydro_workspace/sisl_sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build' make[3]: Entering directory/home/tanmay/hydro_workspace/sisl_sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build'
[ 93%] Building CXX object CMakeFiles/global_cloud_align.dir/apps/global_cloud_align.cpp.o
Linking CXX executable bin/global_cloud_align
lib/librgbdtools.so: error: undefined reference to 'g2o::get_monotonic_time()'
lib/librgbdtools.so: error: undefined reference to 'cs_di_sfree'
lib/librgbdtools.so: error: undefined reference to 'cs_di_schol'
lib/librgbdtools.so: error: undefined reference to 'cs_di_amd'
lib/librgbdtools.so: error: undefined reference to 'cs_di_free'
lib/librgbdtools.so: error: undefined reference to 'cs_di_calloc'
lib/librgbdtools.so: error: undefined reference to 'cs_di_pinv'
lib/librgbdtools.so: error: undefined reference to 'cs_di_symperm'
lib/librgbdtools.so: error: undefined reference to 'cs_di_etree'
lib/librgbdtools.so: error: undefined reference to 'cs_di_post'
lib/librgbdtools.so: error: undefined reference to 'cs_di_counts'
lib/librgbdtools.so: error: undefined reference to 'cs_di_spfree'
lib/librgbdtools.so: error: undefined reference to 'cs_di_malloc'
lib/librgbdtools.so: error: undefined reference to 'cs_di_cumsum'
lib/librgbdtools.so: error: undefined reference to 'cs_di_nfree'

When I remove libg2o and run rosmake --pre-clean, it cannot find some header files. I tried manually including these, but it still comes up as errors.

[ 87%] Building CXX object CMakeFiles/rgbdtools.dir/src/graph/keyframe_graph_solver_g2o.cpp.o
In file included from /home/tanmay/hydro_workspace/sisl_sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/graph/keyframe_graph_solver_g2o.cpp:24:0:
/home/tanmay/hydro_workspace/sisl_sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/include/rgbdtools/graph/keyframe_graph_solver_g2o.h:27:39: fatal error: g2o/core/sparse_optimizer.h: No such file or directory

Any suggestions as to how I can solve this inconsistency, guys? @idryanov

Thanks in advance!

EDIT 1: I managed to sort out the g2o::get_monotonic_time() error by compiling this along with ccny_g2o , after setting up CMakeLists accordingly.

I am new to ros and want to work on visual odometry. I installed the ccny_rgbd_tools package as per the intructions given. When I run the "rosmake ccny_rgbd_tools" command the following error comes:

...
...
[rosmake-5] Finished <<< tf_conversions ROS_NOBUILD in package tf_conversions
[rosmake-5] Starting >>> cv_markers [ make ]
[rosmake-5] Finished <<< cv_markers ROS_NOBUILD in package cv_markers
[ rosmake ] All 3 lineslib_rgbdtools: 0.0 sec ] [ 1 Active 48/50 Complete]{-------------------------------------------------------------------------------
git clone https://github.com/ccny-ros-pkg/rgbdtools.git rgbdtools_git
fatal: could not create work tree dir 'rgbdtools_git'.: Permission denied
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package lib_rgbdtools written to:
[ rosmake ] /home/nishit/.ros/rosmake/rosmake_output-20150211-220031/lib_rgbdtools/build_output.log
[rosmake-7] Finished <<< lib_rgbdtools [FAIL] [ 0.04 seconds ]
[ rosmake ] Halting due to failure in package lib_rgbdtools.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 49 packages with 1 failures.
[ rosmake ] Summary output to directory

I changed the permission of the ccny_rgbd_tools folder to 777. But it still shows the above error.

I have been stuck on this for few days.
Please suggest how to work around this.

The whole project is easy for beginners.

Using Ros Groovy, rosmake gives the following error :

/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp: In member function ‘void rgbdtools::RGBDFrame::constructFeaturePointCloud(rgbdtools::PointCloudFeature&)’:
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:276:69: erreur: no match for ‘operator=’ in ‘cloud.pcl::PointCloudpcl::PointXYZ::header.std_msgs::Header_std::allocator::stamp = (((double)((rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::sec * 1.0e+6) + ((double)((rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::nsec * 1.00000000000000002081668171172168513294309377670288085938e-3))’
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:276:69: note: candidate is:
/opt/ros/groovy/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&)
/opt/ros/groovy/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘double’ to ‘const ros::Time&’
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp: In member function ‘void rgbdtools::RGBDFrame::constructDensePointCloud(rgbdtools::PointCloudT&, double, double) const’:
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:348:69: erreur: no match for ‘operator=’ in ‘cloud.pcl::PointCloudpcl::PointXYZRGB::header.std_msgs::Header_std::allocator::stamp = (((double)((const rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::sec * 1.0e+6) + ((double)((const rgbdtools::RGBDFrame_)this)->rgbdtools::RGBDFrame::header.rgbdtools::Header::stamp.rgbdtools::Time::nsec * 1.00000000000000002081668171172168513294309377670288085938e-3))’
/home/caroline/catkin_ws/src/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/src/rgbd_frame.cpp:348:69: note: candidate is:
/opt/ros/groovy/include/ros/time.h:169:22: note: ros::Time& ros::Time::operator=(const ros::Time&)
/opt/ros/groovy/include/ros/time.h:169:22: note: no known conversion for argument 1 from ‘double’ to ‘const ros::Time&’

See post on Ros Answers : http://answers.ros.org/question/93096/ccny_rgbd-compilation-error/

roslaunch ccny_openni_launch openni.launch publish_cloud:=true
roslaunch ccny_rgbd vo+mapping.launch

When I run above two commands I got like this error in vo+mapping launch. I tried both Fuerte & Groovy, but same result. Please tell me what could be this error? What must I do to resolve it? Thank you

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

when I call generate_graph, I got some error like below.

xxxx@xxxx:~$ rosservice call /generate_graph
ERROR: service [/generate_graph] responded with an error: /tmp/buildd/ros-groovy-opencv2-2.4.6-0precise-20130721-1609/modules/flann/src/miniflann.cpp:315: error: (-210) type=0
in function buildIndex_

Groovy, Ubuntu 12.10 : After following the installation instructions on the wiki site,rosmake ccny_rgbd_tools gave me errors , which are fixed by installing octomaps (may be put this step in the instructions?).

Using the groovy or the master branch, rosmake chokes on the rosdep entries in the stack.xml:

[ rosmake ] rosmake starting...                                                                                                
[ rosmake ] Packages requested are: ['ccny_rgbd_tools']                                                                        
[ rosmake ] Logging to directory /home/jamuraa/.ros/rosmake/rosmake_output-20130424-160259                                     
[ rosmake ] Expanded args ['ccny_rgbd_tools'] to:
['ccny_rgbd', 'ccny_rgbd_data', 'lib_rgbdtools', 'ccny_openni_launch', 'ccny_g2o']
Traceback (most recent call last):
  File "/opt/ros/groovy/bin/rosmake", line 55, in 
    if rma.main():
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rosmake/engine.py", line 761, in main
    for d in rosstack.get_depends(s, implicit=False):
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 188, in get_depends
    m = self.get_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 133, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 172, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
  File "/usr/lib/pymodules/python2.7/rospkg/manifest.py", line 398, in parse_manifest_file
    return parse_manifest(manifest_name, f.read(), filename)
  File "/usr/lib/pymodules/python2.7/rospkg/manifest.py", line 468, in parse_manifest
    raise InvalidManifest("stack manifests are not allowed to have rosdeps")
InvalidManifest: stack manifests are not allowed to have rosdeps
Traceback (most recent call last):
  File "/opt/ros/groovy/bin/rosmake", line 55, in 
    if rma.main():
  File "/opt/ros/groovy/lib/python2.7/dist-packages/rosmake/engine.py", line 761, in main
    for d in rosstack.get_depends(s, implicit=False):
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 188, in get_depends
    m = self.get_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 133, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 172, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
  File "/usr/lib/pymodules/python2.7/rospkg/manifest.py", line 398, in parse_manifest_file
    return parse_manifest(manifest_name, f.read(), filename)
  File "/usr/lib/pymodules/python2.7/rospkg/manifest.py", line 468, in parse_manifest
    raise InvalidManifest("stack manifests are not allowed to have rosdeps") 
rospkg.manifest.InvalidManifest: stack manifests are not allowed to have rosdeps

We need to let people know to do an "sudo apt-get purge ros-fuerte-libg2o" before trying to rosmake ccny_rgb_tools.

The following error appears if the official libg2o package is installed:

"
In file included from /home/carlos/ros/stacks/ccny-ros-pkg/github/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/mapping/keyframe_graph_solver_g2o.h:32:0,
from /home/carlos/ros/stacks/ccny-ros-pkg/github/ccny_rgbd_tools/ccny_rgbd/src/mapping/keyframe_graph_solver_g2o.cpp:24:
/opt/ros/fuerte/include/g2o/solvers/cholmod/linear_solver_cholmod.h:36:21: fatal error: cholmod.h: No such file or directory
compilation terminated.
make[3]: *** [CMakeFiles/ccny_rgbd_mapping.dir/src/mapping/keyframe_graph_solver_g2o.o] Error 1
make[3]: Leaving directory /home/carlos/ros/stacks/ccny-ros-pkg/github/ccny_rgbd_tools/ccny_rgbd/build' make[2]: *** [CMakeFiles/ccny_rgbd_mapping.dir/all] Error 2 make[2]: Leaving directory/home/carlos/ros/stacks/ccny-ros-pkg/github/ccny_rgbd_tools/ccny_rgbd/build'
"

Hello!

Thanks for sharing such a nice tool. vo and normal mapping working fine. But i faced a problem in optimization using g2o. it is generating graph (using generateGraphSrvCallback), but when solveGraphSrvCallback is called it is giving following error

Adding vertices...
Adding edges...
Optimizing...
[VO 787] Fr: 0.0 GFT[203][196]: 52.4 ICPProbModel 3.6 TOTAL 56.7
[VO 788] Fr: 0.0 GFT[208][199]: 30.9 ICPProbModel 1.7 TOTAL 32.8
[VO 789] Fr: 0.0 GFT[210][207]: 38.5 ICPProbModel 1.4 TOTAL 40.6
[VO 790] Fr: 0.5 GFT[201][198]: 26.5 ICPProbModel 1.4 TOTAL 29.0
[VO 791] Fr: 0.0 GFT[184][180]: 27.1 ICPProbModel 1.5 TOTAL 30.4

[keyframe_mapper_node-2] process has died [pid 7952, exit code -11, cmd /home/ashaat/ros_workspace/ccny_rgbd_tools/ccny_rgbd/bin/keyframe_mapper_node __name:=keyframe_mapper_node __log:=/home/ashaat/.ros/log/51ec4e02-6ed3-11e2-9c58-20689d99b934/keyframe_mapper_node-2.log].
log file: /home/ashaat/.ros/log/51ec4e02-6ed3-11e2-9c58-20689d99b934/keyframe_mapper_node-2*.log

[VO 801] Fr: 0.0 GFT[192][190]: 34.6 ICPProbModel 1.4 TOTAL 36.5
[VO 802] Fr: 0.0 GFT[204][200]: 25.9 ICPProbModel 1.5 TOTAL 27.5
[VO 803] Fr: 0.0 GFT[197][192]: 32.0 ICPProbModel 1.5 TOTAL 33.6
[VO 804] Fr: 0.0 GFT[192][187]: 28.5 ICPProbModel 1.5 TOTAL 30.3
[VO 805] Fr: 0.0 GFT[207][199]: 28.0 ICPProbModel 1.5 TOTAL 29.6
.
.

.

It through the error- "process has died" when function, optimizer_.optimize(10) function is called. I have tested by installing g2o separately, but got same result.

Thanks for help in advance

cheers,

ashaat

Now it worked on my indigo ,but when I run
roslaunch ccny_openni_launch openni.launch
I get some errors
[ERROR] [1606915862.002452561]: Failed to load nodelet [/openni_driver] of type [openni_camera/driver] even after refreshing the cache: According to the loaded plugin descriptions the class openni_camera/driver with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet astra_camera/AstraDriverNodelet ccny_rgbd/RGBDImageProcNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_auto_docking/AutoDockingNodelet kobuki_bumper2pc/Bumper2PcNodelet kobuki_node/KobukiNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet realsense_camera/F200Nodelet realsense_camera/R200Nodelet realsense_camera/SR300Nodelet realsense_camera/ZR300Nodelet stdr_robot/Robot stereo_image_proc/disparity stereo_image_proc/point_cloud2 turtlebot_follower/TurtlebotFollower yocs_cmd_vel_mux/CmdVelMuxNodelet yocs_velocity_smoother/VelocitySmootherNodelet [ERROR] [1606915862.002529790]: The error before refreshing the cache was: According to the loaded plugin descriptions the class openni_camera/driver with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet astra_camera/AstraDriverNodelet ccny_rgbd/RGBDImageProcNodelet depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet freenect_camera/driver image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image kobuki_auto_docking/AutoDockingNodelet kobuki_bumper2pc/Bumper2PcNodelet kobuki_node/KobukiNodelet kobuki_random_walker/RandomWalkerControllerNodelet kobuki_safety_controller/SafetyControllerNodelet nodelet_tutorial_math/Plus openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet realsense_camera/F200Nodelet realsense_camera/R200Nodelet realsense_camera/SR300Nodelet realsense_camera/ZR300Nodelet stdr_robot/Robot stereo_image_proc/disparity stereo_image_proc/point_cloud2 turtlebot_follower/TurtlebotFollower yocs_cmd_vel_mux/CmdVelMuxNodelet yocs_velocity_smoother/VelocitySmootherNodelet [FATAL] [1606915862.002629802]: Failed to load nodelet '/openni_driver of type openni_camera/driver to manager rgbd_manager' [openni_driver-2] process has died [pid 5248, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load openni_camera/driver rgbd_manager ir:=camera/ir rgb:=camera/rgb depth:=camera/depth __name:=openni_driver __log:=/home/cjt/.ros/log/82e7c03e-34a2-11eb-b0cb-ffd58a0c6b73/openni_driver-2.log]. log file: /home/cjt/.ros/log/82e7c03e-34a2-11eb-b0cb-ffd58a0c6b73/openni_driver-2*.log
Thanks to your reply!

For example, in rgbd_image_proc.cpp, the cloud publishing topic should be unadvertised if the parameter to publish is changed to "false".

publish poseStamped msg

target_link_libraries(ccny_rgbd_mapping
  boost_regex
  cholmod
  g2o_core
  g2o_solver_cholmod
  g2o_solver_csparse
  g2o_types_slam3d
  g2o_stuff)

Otherwise there is undefined symbol appearing in keyframe_mapper_node:

  Linking CXX executable ../bin/keyframe_mapper_node
  ../lib/libccny_rgbd_mapping.so: error: undefined reference to 'g2o::writeCCSMatrix(char const*, int, int, int const*, int const*, double const*, bool)'
  collect2: ld returned 1 exit status

Hi,

Sometimes when you have a low amout of keyframes and you ask to generate the graph, the program exits due to: assert(n_candidates_ <= size);

An alternative would be(@@ -349,7 +349,10 @@):

// check for validity of n_candidates argument
int size = match_matrix_.rows;

if(n_candidates_ > size)
{
n_candidates_ = size;
}
assert(n_candidates_ <= size);

I had a problem compiling today:

ccny_rgbd/src/apps/keyframe_mapper.cpp:485:7: error: ‘result’ was not declared in this scope

Looks like "result < 0" just needs to be changed to "result_pcd < 0".

I am trying to build ccny_rgbd_tools on ROS Groovy and I get one failure.
The file "apps/global_cloud_align.cpp" seems to be missing.
It is called from a CMakelist.txt under ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git with the following two lines:
add_executable(global_cloud_align
apps/global_cloud_align.cpp)

The output from build of package lib_rgbdtools is:
git clone https://github.com/ccny-ros-pkg/rgbdtools.git rgbdtools_git
Cloning into 'rgbdtools_git'...
cd rgbdtools_git && git checkout
touch rospack_nosubdirs
mkdir -p rgbdtools_git/build
cd rgbdtools_git/build && cmake ../ -DCMAKE_INSTALL_PREFIX=/home/fotis/groovy/rosbuild_ws/ccny_rgbd_tool/lib_rgbdtools -DG2O_INCLUDE_DIRS=/home/fotis/groovy/rosbuild_ws/ccny_rgbd_tool/ccny_g2o/include -DG2O_LIBRARY_DIRS=/home/fotis/groovy/rosbuild_ws/ccny_rgbd_tool/ccny_g2o/lib -DG2O_LIBRARIES='g2o_core;g2o_stuff;g2o_solver_cholmod;g2o_solver_csparse;g2o_types_slam3d;cholmod'
-- The C compiler identification is GNU
-- The CXX compiler identification is GNU
-- Check for working C compiler: /usr/bin/gcc
-- Check for working C compiler: /usr/bin/gcc -- 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
-- checking for module 'eigen3'
-- found eigen3, version 3.0.5
-- Found eigen: /usr/include/eigen3
-- Boost version: 1.46.1
-- Found the following Boost libraries:
-- system
-- filesystem
-- thread
-- date_time
-- iostreams
-- checking for module 'openni-dev'
-- found openni-dev, version 1.5.2.23~precise
-- Found openni: /usr/lib/libOpenNI.so
-- Found libusb-1.0: /usr/include
-- checking for module 'flann'
-- found flann, version 1.7.1
-- Found Flann: /opt/ros/groovy/lib/libflann_cpp_s.a
-- Found qhull: /usr/lib/libqhull.so
-- looking for PCL_COMMON
-- Found PCL_COMMON: /opt/ros/groovy/lib/libpcl_common.so
-- looking for PCL_OCTREE
-- Found PCL_OCTREE: /opt/ros/groovy/lib/libpcl_octree.so
-- looking for PCL_IO
-- Found PCL_IO: /opt/ros/groovy/lib/libpcl_io.so
-- looking for PCL_KDTREE
-- Found PCL_KDTREE: /opt/ros/groovy/lib/libpcl_kdtree.so
-- looking for PCL_SEARCH
-- Found PCL_SEARCH: /opt/ros/groovy/lib/libpcl_search.so
-- looking for PCL_SAMPLE_CONSENSUS
-- Found PCL_SAMPLE_CONSENSUS: /opt/ros/groovy/lib/libpcl_sample_consensus.so
-- looking for PCL_FILTERS
-- Found PCL_FILTERS: /opt/ros/groovy/lib/libpcl_filters.so
-- looking for PCL_GEOMETRY
-- Found PCL_GEOMETRY: /opt/ros/groovy/include/pcl-1.6
-- looking for PCL_SEGMENTATION
-- Found PCL_SEGMENTATION: /opt/ros/groovy/lib/libpcl_segmentation.so
-- looking for PCL_FEATURES
-- Found PCL_FEATURES: /opt/ros/groovy/lib/libpcl_features.so
-- looking for PCL_SURFACE
-- Found PCL_SURFACE: /opt/ros/groovy/lib/libpcl_surface.so
-- looking for PCL_REGISTRATION
-- Found PCL_REGISTRATION: /opt/ros/groovy/lib/libpcl_registration.so
-- looking for PCL_VISUALIZATION
-- Found PCL_VISUALIZATION: /opt/ros/groovy/lib/libpcl_visualization.so
-- looking for PCL_KEYPOINTS
-- Found PCL_KEYPOINTS: /opt/ros/groovy/lib/libpcl_keypoints.so
-- looking for PCL_TRACKING
-- Found PCL_TRACKING: /opt/ros/groovy/lib/libpcl_tracking.so
-- Found PCL: /usr/lib/libboost_system-mt.so;/usr/lib/libboost_filesystem-mt.so;/usr/lib/libboost_thread-mt.so;pthread;/usr/lib/libboost_date_time-mt.so;/usr/lib/libboost_iostreams-mt.so;optimized;/opt/ros/groovy/lib/libpcl_common.so;debug;/opt/ros/groovy/lib/libpcl_common.so;optimized;/opt/ros/groovy/lib/libpcl_octree.so;debug;/opt/ros/groovy/lib/libpcl_octree.so;/usr/lib/libOpenNI.so;vtkCommon;vtkRendering;vtkHybrid;optimized;/opt/ros/groovy/lib/libpcl_io.so;debug;/opt/ros/groovy/lib/libpcl_io.so;optimized;/opt/ros/groovy/lib/libflann_cpp_s.a;debug;/opt/ros/groovy/lib/libflann_cpp_s-gd.a;optimized;/opt/ros/groovy/lib/libpcl_kdtree.so;debug;/opt/ros/groovy/lib/libpcl_kdtree.so;optimized;/opt/ros/groovy/lib/libpcl_search.so;debug;/opt/ros/groovy/lib/libpcl_search.so;optimized;/opt/ros/groovy/lib/libpcl_sample_consensus.so;debug;/opt/ros/groovy/lib/libpcl_sample_consensus.so;optimized;/opt/ros/groovy/lib/libpcl_filters.so;debug;/opt/ros/groovy/lib/libpcl_filters.so;optimized;/opt/ros/groovy/lib/libpcl_segmentation.so;debug;/opt/ros/groovy/lib/libpcl_segmentation.so;optimized;/opt/ros/groovy/lib/libpcl_features.so;debug;/opt/ros/groovy/lib/libpcl_features.so;optimized;/usr/lib/libqhull.so;debug;/usr/lib/libqhull.so;optimized;/opt/ros/groovy/lib/libpcl_surface.so;debug;/opt/ros/groovy/lib/libpcl_surface.so;optimized;/opt/ros/groovy/lib/libpcl_registration.so;debug;/opt/ros/groovy/lib/libpcl_registration.so;optimized;/opt/ros/groovy/lib/libpcl_visualization.so;debug;/opt/ros/groovy/lib/libpcl_visualization.so;optimized;/opt/ros/groovy/lib/libpcl_keypoints.so;debug;/opt/ros/groovy/lib/libpcl_keypoints.so;optimized;/opt/ros/groovy/lib/libpcl_tracking.so;debug;/opt/ros/groovy/lib/libpcl_tracking.so
-- Configuring done
CMake Error at CMakeLists.txt:83 (add_executable):
Cannot find source file:

apps/global_cloud_align.cpp

Tried extensions .c .C .c++ .cc .cpp .cxx .m .M .mm .h .hh .h++ .hm .hpp
.hxx .in .txx

-- Build files have been written to: /home/fotis/groovy/rosbuild_ws/ccny_rgbd_tool/lib_rgbdtools/rgbdtools_git/build
make: *** [rgbdtools_local] Error 1

Hello,

I am trying to use the ccny_rgbd_tools SLAM package, I'm running Ubuntu 12.04 and ROS-hydro (rosbuild / hydro_workspace, primarily).

Since I was running into libg2o issues, so when I cloned the repository, I had tried the groovy , hydro , and master branches of ccny_rgbd_tools, but to no luck. After facing a lot of issues with libg2o (whether or not I have libg2o installed - I've tried both), I shifted to the ccny_rgbd_tools-0.1.1 package from Ivan Dryanovski's github https://github.com/ccny-ros-pkg/ccny_... , since it is updated to ONLY the ccny_g2o system rather than the rgbd g2o lib.

I also modified my libg2o file by adding http://www.dropbox.com/s/l0q4oc7yuk00... This seems to have sorted out the g2o errors.

Now when I compile the package, this is the error it is throwing up.

ccny_rgbd_tools-0.1.1/ccny_rgbd/src/structures/rgbd_frame.cpp:308:18: error: no match for ‘operator=’ in ‘cloud.pcl::PointCloudpcl::PointXYZRGB::header = ((const ccny_rgbd::RGBDFrame*)this)->ccny_rgbd::RGBDFrame::header’
I assume the error above is due to incompatibilty of the PCL system used (probably for groovy and earlier), when I am running ROS-hydro. I have used PCL elsewhere without issues - I even tried manually migrating the ccny_rgbd_tools package to the standalone PCL system, but it is ridiculously complicated,

How do I use the "hydro compatible" ccny_rgbd_tools system, and also utilize the ccny_g2o format of the 0.1.1 edition? I've gone through every other issue / answers posted on the forum about ccny_rgbd, and all compilation errors (for their respective distros) have supposedly been solved by migrating to the 0.1.1 edition, but I haven't been able to solve this. I'd be grateful if anyone could help me out with building this package.

Hi ..

I run like below
roslaunch ccny_openni_launch openni.launch publish_cloud:=true
roslaunch ccny_rgbd vo+mapping.launch

However, I can't build 3d map

I think I have mistake of rviz configuration, because I use groovy.

Could you check the rviz configuration?

Panels:

• Class: rviz/Displays
  Help Height: 78
  Name: Displays
  Property Tree Widget:
  Expanded:
  - /Global Options1
  - /Status1
  - /Grid1
  - /TF1
  - /RGBD Cloud1
  - /Keyframes1
  - /Features1
  - /Model1
  - /VO Path1
  Splitter Ratio: 0.64094
  Tree Height: 375
• Class: rviz/Selection
  Name: Selection
• Class: rviz/Tool Properties
  Expanded:
  • /2D Pose Estimate1
  • /2D Nav Goal1
  • /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
• Class: rviz/Views
  Expanded:
  • /Current View1
    Name: Views
    Splitter Ratio: 0.5
• Class: rviz/Time
  Experimental: false
  Name: Time
  SyncMode: 0
  SyncSource: RGBD Cloud
  Visualization Manager:
  Class: ""
  Displays:

- Alpha: 0.5
  Cell Size: 1
  Class: rviz/Grid
  Color: 160; 160; 164
  Enabled: true
  Line Style:
    Line Width: 0.03
    Value: Lines
  Name: Grid
  Normal Cell Count: 0
  Offset:
    X: 0
    Y: 0
    Z: 0
  Plane: XY
  Plane Cell Count: 10
  Reference Frame: <Fixed Frame>
  Value: true
- Class: rviz/TF
  Enabled: true
  Frame Timeout: 15
  Frames:
    /camera_link:
      Value: true
    /camera_rgb_frame:
      Value: true
    /camera_rgb_optical_frame:
      Value: true
    /odom:
      Value: true
    All Enabled: false
  Marker Scale: 1
  Name: TF
  Show Arrows: true
  Show Axes: true
  Show Names: true
  Tree:
    /odom:
      /camera_link:
        /camera_rgb_frame:
          /camera_rgb_optical_frame:
            {}
  Update Interval: 0
  Value: true
- Alpha: 0.2
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 255; 255
  Color Transformer: RGB8
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: RGBD Cloud
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /rgbd/cloud
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 255; 255
  Color Transformer: RGB8
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: Keyframes
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /keyframes
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 255; 0
  Color Transformer: FlatColor
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: Features
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /feature/cloud
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 139; 141
  Color Transformer: FlatColor
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: Model
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /model/cloud
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Buffer Length: 1
  Class: rviz/Path
  Color: 25; 255; 0
  Enabled: true
  Name: VO Path
  Topic: ""
  Value: true

Enabled: true
Global Options:
Background Color: 0; 0; 56
Fixed Frame: /odom
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 4.3642
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.6398
Target Frame:
Value: Orbit (rviz)
Yaw: 2.9754
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 876
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000013c000002e1fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000206000000dd00fffffffb0000000a005600690065007700730100000234000000d5000000b000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bdfc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003ffc0100000002fb0000000800540069006d00650100000000000005ff000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004bd000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1535
X: 57
Y: -5

Hello everyone,

The ccny_rgbd package is compiled and ready to go, (Ubuntu 12.04, ROS-Hydro). Right now I run it according to the readme, with publish cloud set to true. I'm using a ROSbag with kinect data, so I have the device nodelet disabled.

When I open up rviz and load the vo+mapping.rviz config file, the kinect frame seems to be moving around with respect to my world frame, and the other frames (openni_camera, optical_frame for rgb and depth) are at some transformation to the kinect frame. Apart from this however, there is nothing showing up in rviz. No path, no model, even after I fiddled with topics of the rviz visualization markers.

The ROS wiki says it needs the transform between camera_link and the moving camera frame.
From my understanding, this should just be a transform broadcaster publishing a fixed transform between camera_link and openni_camera OR kinect, but that doesn't seem to work.

Can anyone tell me what the correct tf configuration is? Also, What are the corresponding changes in my rviz config file, considering the tf tree the rviz file has is between /odom and /camera_link ?

Thanks!

Hi,
I think in the recent commit (4f56532), the dependencies on SurfDetectorConfig.h have been removed.

However, there are still some files which require them like types.h (https://github.com/ccny-ros-pkg/ccny_rgbd_tools/blob/master/ccny_rgbd/include/ccny_rgbd/types.h)

Here's the build failure description while I tried installing ccny_rgbd_tools:
rosmake ccny_rgbd_tools

Building CXX object CMakeFiles/feature_viewer_node.dir/src/node/feature_viewer_node.cpp.o
Building CXX object CMakeFiles/feature_viewer_node.dir/src/apps/feature_viewer.cpp.o
Building CXX object CMakeFiles/feature_viewer_node.dir/src/util.cpp.o
make[3]: Entering directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
[ 82%] [ 85%] Building CXX object CMakeFiles/visual_odometry_node.dir/src/node/visual_odometry_node.cpp.o
make[3]: Entering directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
Building CXX object CMakeFiles/visual_odometry_node.dir/src/apps/visual_odometry.cpp.o
[ 87%] Building CXX object CMakeFiles/keyframe_mapper_node.dir/src/node/keyframe_mapper_node.cpp.o
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/feature_viewer.h:36:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/node/feature_viewer_node.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/util.h:37:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/util.h:37:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/rgbd_image_proc.h:35:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/apps/rgbd_image_proc.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/visual_odometry.h:36:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/apps/visual_odometry.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/visual_odometry.h:36:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/node/visual_odometry_node.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/keyframe_mapper.h:43:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/node/keyframe_mapper_node.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/feature_viewer.h:36:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/apps/feature_viewer.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
make[3]: *** [CMakeFiles/rgbd_image_proc_app.dir/src/apps/rgbd_image_proc.cpp.o] Error 1
make[3]: *** Waiting for unfinished jobs....
make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/util.cpp.o] Error 1
make[3]: *** Waiting for unfinished jobs....
[ 92%] [ 92%] Building CXX object CMakeFiles/keyframe_mapper_node.dir/src/apps/keyframe_mapper.cpp.o
Building CXX object CMakeFiles/visual_odometry_node.dir/src/util.cpp.o
make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/node/feature_viewer_node.cpp.o] Error 1
[ 95%] Building CXX object CMakeFiles/keyframe_mapper_node.dir/src/util.cpp.o
make[3]: *** [CMakeFiles/rgbd_image_proc_app.dir/src/util.cpp.o] Error 1
make[3]: Leaving directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/rgbd_image_proc_app.dir/all] Error 2
make[2]: *** Waiting for unfinished jobs....
make[3]: *** [CMakeFiles/keyframe_mapper_node.dir/src/node/keyframe_mapper_node.cpp.o] Error 1
make[3]: *** Waiting for unfinished jobs....
make[3]: *** [CMakeFiles/visual_odometry_node.dir/src/apps/visual_odometry.cpp.o] Error 1
make[3]: *** Waiting for unfinished jobs....
make[3]: *** [CMakeFiles/visual_odometry_node.dir/src/node/visual_odometry_node.cpp.o] Error 1
make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/apps/feature_viewer.cpp.o] Error 1
make[3]: Leaving directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/feature_viewer_node.dir/all] Error 2
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/util.h:37:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/util.h:37:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
In file included from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/apps/keyframe_mapper.h:43:0,
                 from /home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp:24:
/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/include/ccny_rgbd/types.h:45:42: fatal error: ccny_rgbd/SurfDetectorConfig.h: No such file or directory
compilation terminated.
make[3]: *** [CMakeFiles/keyframe_mapper_node.dir/src/util.cpp.o] Error 1
make[3]: *** [CMakeFiles/visual_odometry_node.dir/src/util.cpp.o] Error 1
make[3]: Leaving directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/visual_odometry_node.dir/all] Error 2
make[3]: *** [CMakeFiles/keyframe_mapper_node.dir/src/apps/keyframe_mapper.cpp.o] Error 1
make[3]: Leaving directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/keyframe_mapper_node.dir/all] Error 2
make[2]: Leaving directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/dhruva/Documents/Walgreens/ros_workspace/ccny_rgbd_tools/ccny_rgbd/build'
make: *** [all] Error 2

What was the point of removing the SURF detector? Is it unnecessary?

I run rosmake ccny_rgbd_tools,When compiling to ccny-rgbd, the computer freezes. I restarted many times without any effect.Is it the ros version or something else? Hope someone will help me solve it.Many thanks!

In RViz, I can view the PointCloud and an image from the KinectSensor. When I move the camera, I don't get a map created as the one demonstrated in the video on https://youtu.be/YE9eKgek5pI. I've been trying to get it to work for multiple days. Any advice would be greatly appreciated.

Trying to use the PR2 in Gazebo, the simulated Kinect gives different image encoding in regards to the depth-map related topics. The simulated Kinect uses 32FC1 instead of the normal 16UC1 which is used by the real Kinect.

Hi guys, thank you for providing this package, but I would like to know can I run the package on hydro? I install it in a rosbuild workspace on hydro. It seems that does not work well. Could you please have a look at this link? http://answers.ros.org/question/145411/error-on-installing-ccny-package-on-hydro/. Many thanks.

Running the new groovy, rviz uses .rviz configuration files instead of .vcg, could you please update those? thanks.

Hi,

I can get the package working for one single camera. I would like to have multiple cameras creating their own map.
I have tried launching multiple instances of the required nodes (under different namespaces). Launching multiple Openni nodes works fine, and I get separate RGB and Depth image topics for each of them. However, when I launch the second camera, the RGBD_Proc node crashes for some reason (no error, just freezes).

I believe it may have to do with boost::shared_ptr sync_, since the program freezes just after calling
sync_->registerCallback(boost::bind(&RGBDImageProc::RGBDCallback, this, _1, _2, _3, _4));

on the second camera. However I cannot find the error since that code is quite advanced for me.

Do you know what can be happening when trying to run several instances of the RGBD_Proc node?

Thanks in advance.

the values of the c_img need to be updated (incremented) before calculating the moving average values

Hi guys,
let me provide another little patch.

There is the problem: http://answers.ros.org/question/55401/ccny_rgbd-runtime-symbol-lookup-error

There is solution:

+rosbuild_add_library (ccny_rgbd_util
+  src/rgbd_util.cpp
+)
+
 rosbuild_add_library (ccny_rgbd_registration
   src/registration/motion_estimation.cpp
   src/registration/motion_estimation_icp.cpp
   src/registration/motion_estimation_icp_prob_model.cpp
 )

+target_link_libraries(ccny_rgbd_registration
+  ccny_rgbd_util)
+
 rosbuild_add_library (ccny_rgbd_mapping
   src/mapping/keyframe_graph_detector.cpp
   src/mapping/keyframe_graph_solver.cpp
   src/mapping/keyframe_graph_solver_g2o.cpp
 )

-rosbuild_add_library (ccny_rgbd_util
-  src/rgbd_util.cpp
-)
-

I am curious how you managed to get it working without this patch. Could you please share your versions of OS/GCC/ld?

Mine:
Ubuntu 12.04
GCC 4.6.3

pavel@spym-pc:~$ ld --version
GNU gold (GNU Binutils for Ubuntu 2.22) 1.11

Hi,

     I just followed the installing procedure : https://github.com/ccny-ros-pkg/ccny_rgbd_tools    and install it on my ROS hydro, it has no rosmake errors, but it displays nothing on Rviz.

      Could anyone provide some suggestions? Many thanks in advance!

in avg_logger

The current git version 0.2 does not compile. I tried for a couple of DAYS now. The code never had a chance to compile.

Tried 0.1.1 also, which works fine.

same problem is described here:
http://answers.ros.org/question/93386/lib_rgbdtools-failed/

Ubuntu 12.10, ros groovy

Hi...

I'm interested with your great job.. But I can't find any paper or something (I want to know the algorithm,... etc)

I know you submit "Fast Visual Odometry and Mapping from RGB-D Data" in ICRA 2013. Unfortunately, in IEEE,it doesn't update this paper yet.
If possible, can I show your paper?

Thank you in advance..

Best Regards,
SungTae Moon

Hi,

I followed the steps given in the ccny_rgbd_tools and installed the package into catkin_ws/src in ros hydro.

steps I followed:

1. I installed the package in catkin_ws/src using git clone
2. git checkout hydro
3. rosdep install ccny_rgbd_tools
4. catkin_make
5. rosmake ccny_rgbd

I am getting following errors

:~/catkin_ws/src$ rosmake ccny_rgbd
[ rosmake ] rosmake starting...
[ rosmake ] Packages requested are: ['ccny_rgbd']
[ rosmake ] Logging to directory /home/rd/.ros/rosmake/rosmake_output-20150313-162646
[ rosmake ] Expanded args ['ccny_rgbd'] to:
['ccny_rgbd']
[rosmake-0] Starting >>> catkin [ make ]
[rosmake-1] Starting >>> lib_rgbdtools [ make ]
[rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkin
No Makefile in package catkin
[rosmake-0] Starting >>> genmsg [ make ]
[rosmake-2] Starting >>> rospack [ make ]
[rosmake-3] Starting >>> console_bridge [ make ]
[rosmake-3] Finished <<< console_bridge ROS_NOBUILD in package console_bridge
No Makefile in package console_bridge
[rosmake-3] Starting >>> cpp_common [ make ]
[rosmake-0] Finished <<< genmsg ROS_NOBUILD in package genmsg
No Makefile in package genmsg
[rosmake-0] Starting >>> genlisp [ make ]
[rosmake-0] Finished <<< genlisp ROS_NOBUILD in package genlisp
No Makefile in package genlisp
[rosmake-2] Finished <<< rospack ROS_NOBUILD in package rospack
No Makefile in package rospack
[rosmake-0] Starting >>> genpy [ make ]
[rosmake-0] Finished <<< genpy ROS_NOBUILD in package genpy
No Makefile in package genpy
[rosmake-2] Starting >>> roslib [ make ]
[rosmake-0] Starting >>> gencpp [ make ]
[rosmake-3] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
No Makefile in package cpp_common
[rosmake-3] Starting >>> rostime [ make ]
[rosmake-3] Finished <<< rostime ROS_NOBUILD in package rostime
No Makefile in package rostime
[rosmake-0] Finished <<< gencpp ROS_NOBUILD in package gencpp
No Makefile in package gencpp
[rosmake-0] Starting >>> message_generation [ make ]
[rosmake-3] Starting >>> roscpp_traits [ make ]
[rosmake-2] Finished <<< roslib ROS_NOBUILD in package roslib
No Makefile in package roslib
[rosmake-2] Starting >>> rosunit [ make ]
[rosmake-3] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
No Makefile in package roscpp_traits
[rosmake-3] Starting >>> roscpp_serialization [ make ]
[rosmake-0] Finished <<< message_generation ROS_NOBUILD in package message_generation
No Makefile in package message_generation
[rosmake-0] Starting >>> roslang [ make ]
[rosmake-2] Finished <<< rosunit ROS_NOBUILD in package rosunit
No Makefile in package rosunit
[rosmake-2] Starting >>> xmlrpcpp [ make ]
[rosmake-0] Finished <<< roslang ROS_NOBUILD in package roslang
No Makefile in package roslang
[rosmake-3] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
No Makefile in package roscpp_serialization
[rosmake-3] Starting >>> message_runtime [ make ]
[rosmake-3] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
No Makefile in package message_runtime
[rosmake-2] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp
No Makefile in package xmlrpcpp
[rosmake-0] Starting >>> rosbuild [ make ]
[rosmake-2] Starting >>> rosgraph [ make ]
[rosmake-2] Finished <<< rosgraph ROS_NOBUILD in package rosgraph
No Makefile in package rosgraph
[rosmake-0] Finished <<< rosbuild ROS_NOBUILD in package rosbuildec ] [ rosbuild: ... [ 4 Active 17/70 Complete ]
No Makefile in package rosbuild
[rosmake-0] Starting >>> rosconsole [ make ]
[rosmake-3] Starting >>> std_msgs [ make ]
[rosmake-0] Finished <<< rosconsole ROS_NOBUILD in package rosconsole
No Makefile in package rosconsole
[rosmake-0] Starting >>> rosmaster [ make ]
[rosmake-0] Finished <<< rosmaster ROS_NOBUILD in package rosmaster
No Makefile in package rosmaster
[rosmake-0] Starting >>> rosclean [ make ]
[rosmake-2] Starting >>> rosparam [ make ]
[rosmake-2] Finished <<< rosparam ROS_NOBUILD in package rosparam
No Makefile in package rosparam
[rosmake-2] Starting >>> rosbag_storage [ make ]
[rosmake-3] Finished <<< std_msgs ROS_NOBUILD in package std_msgs
No Makefile in package std_msgs
[rosmake-3] Starting >>> rosgraph_msgs [ make ]
[rosmake-2] Finished <<< rosbag_storage ROS_NOBUILD in package rosbag_storage
No Makefile in package rosbag_storage
[rosmake-2] Starting >>> geometry_msgs [ make ]
[rosmake-0] Finished <<< rosclean ROS_NOBUILD in package rosclean
No Makefile in package rosclean
[rosmake-2] Finished <<< geometry_msgs ROS_NOBUILD in package geometry_msgs
No Makefile in package geometry_msgs
[rosmake-2] Starting >>> sensor_msgs [ make ]
[rosmake-2] Finished <<< sensor_msgs ROS_NOBUILD in package sensor_msgs
No Makefile in package sensor_msgs
[rosmake-0] Starting >>> class_loader [ make ]
[rosmake-3] Finished <<< rosgraph_msgs ROS_NOBUILD in package rosgraph_msgs
No Makefile in package rosgraph_msgs
[rosmake-2] Starting >>> pcl_msgs [ make ]
[rosmake-2] Finished <<< pcl_msgs ROS_NOBUILD in package pcl_msgs
No Makefile in package pcl_msgs
[rosmake-2] Starting >>> cmake_modules [ make ]
[rosmake-3] Starting >>> roscpp [ make ]
[rosmake-3] Finished <<< roscpp ROS_NOBUILD in package roscpp
No Makefile in package roscpp
[rosmake-2] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules
No Makefile in package cmake_modules
[rosmake-3] Starting >>> rosout [ make ]
[rosmake-0] Finished <<< class_loader ROS_NOBUILD in package class_loader
No Makefile in package class_loader
[rosmake-2] Starting >>> smclib [ make ]
[rosmake-0] Starting >>> rospy [ make ]
[rosmake-2] Finished <<< smclib ROS_NOBUILD in package smclib
No Makefile in package smclib
[rosmake-2] Starting >>> pcl_conversions [ make ]
[rosmake-0] Finished <<< rospy ROS_NOBUILD in package rospy
No Makefile in package rospy
[rosmake-0] Starting >>> pluginlib [ make ]
[rosmake-2] Finished <<< pcl_conversions ROS_NOBUILD in package pcl_conversions
No Makefile in package pcl_conversions
[rosmake-3] Finished <<< rosout ROS_NOBUILD in package rosout
No Makefile in package rosout
[rosmake-3] Starting >>> roslaunch [ make ]
[rosmake-2] Starting >>> bond [ make ]
[rosmake-0] Finished <<< pluginlib ROS_NOBUILD in package pluginlib
No Makefile in package pluginlib
[rosmake-0] Starting >>> actionlib_msgs [ make ]
[rosmake-3] Finished <<< roslaunch ROS_NOBUILD in package roslaunch
No Makefile in package roslaunch
[rosmake-3] Starting >>> rostest [ make ]
[rosmake-0] Finished <<< actionlib_msgs ROS_NOBUILD in package actionlib_msgs
No Makefile in package actionlib_msgs
[rosmake-2] Finished <<< bond ROS_NOBUILD in package bond
No Makefile in package bond
[rosmake-2] Starting >>> bondcpp [ make ]
[rosmake-0] Starting >>> tf2_msgs [ make ]
[rosmake-3] Finished <<< rostest ROS_NOBUILD in package rostest
No Makefile in package rostest
[rosmake-3] Starting >>> topic_tools [ make ]
[rosmake-2] Finished <<< bondcpp ROS_NOBUILD in package bondcpp
No Makefile in package bondcpp
[rosmake-0] Finished <<< tf2_msgs ROS_NOBUILD in package tf2_msgs
No Makefile in package tf2_msgs
[rosmake-2] Starting >>> message_filters [ make ]
[rosmake-0] Starting >>> nodelet [ make ]
[rosmake-3] Finished <<< topic_tools ROS_NOBUILD in package topic_tools
No Makefile in package topic_tools
[rosmake-0] Finished <<< nodelet ROS_NOBUILD in package nodelet
No Makefile in package nodelet
[rosmake-0] Starting >>> tf2 [ make ]
[rosmake-2] Finished <<< message_filters ROS_NOBUILD in package message_filters
No Makefile in package message_filters
[rosmake-2] Starting >>> angles [ make ]
[rosmake-3] Starting >>> rosbag [ make ]
[rosmake-0] Finished <<< tf2 ROS_NOBUILD in package tf20.0 sec ] [ rosbag: 0.0 sec... [ 4 Active 46/70 Complete ]
No Makefile in package tf2
[rosmake-0] Starting >>> tf2_py [ make ]
[rosmake-2] Finished <<< angles ROS_NOBUILD in package angles
No Makefile in package angles
[rosmake-3] Finished <<< rosbag ROS_NOBUILD in package rosbag
No Makefile in package rosbag
[rosmake-2] Starting >>> nav_msgs [ make ]
[rosmake-0] Finished <<< tf2_py ROS_NOBUILD in package tf2_py
No Makefile in package tf2_py
[rosmake-3] Starting >>> rosmsg [ make ]
[rosmake-0] Starting >>> rostopic [ make ]
[rosmake-3] Finished <<< rosmsg ROS_NOBUILD in package rosmsg
No Makefile in package rosmsg
[rosmake-2] Finished <<< nav_msgs ROS_NOBUILD in package nav_msgs
No Makefile in package nav_msgs
[rosmake-2] Starting >>> std_srvs [ make ]
[rosmake-3] Starting >>> rosservice [ make ]
[rosmake-0] Finished <<< rostopic ROS_NOBUILD in package rostopic
No Makefile in package rostopic
[rosmake-0] Starting >>> rosnode [ make ]
[rosmake-2] Finished <<< std_srvs ROS_NOBUILD in package std_srvs
No Makefile in package std_srvs
[rosmake-2] Starting >>> opencv2 [ make ]
[rosmake-3] Finished <<< rosservice ROS_NOBUILD in package rosservice
No Makefile in package rosservice
[rosmake-0] Finished <<< rosnode ROS_NOBUILD in package rosnode
No Makefile in package rosnode
[rosmake-3] Starting >>> dynamic_reconfigure [ make ]
[rosmake-0] Starting >>> actionlib [ make ]
[rosmake-2] Finished <<< opencv2 ROS_NOBUILD in package opencv2
No Makefile in package opencv2
[rosmake-3] Finished <<< dynamic_reconfigure ROS_NOBUILD in package dynamic_reconfigure
No Makefile in package dynamic_reconfigure
[rosmake-3] Starting >>> nodelet_topic_tools [ make ]
[rosmake-2] Starting >>> roswtf [ make ]
[rosmake-0] Finished <<< actionlib ROS_NOBUILD in package actionlib
No Makefile in package actionlib
[rosmake-0] Starting >>> tf2_ros [ make ]
[rosmake-2] Finished <<< roswtf ROS_NOBUILD in package roswtfic_tools: 0.0 sec ] [... [ 4 Active 59/70 Complete ]
No Makefile in package roswtf
[rosmake-2] Starting >>> cv_bridge [ make ]
[rosmake-3] Finished <<< nodelet_topic_tools ROS_NOBUILD in package nodelet_topic_tools
No Makefile in package nodelet_topic_tools
[rosmake-3] Starting >>> visualization_msgs [ make ]
[rosmake-0] Finished <<< tf2_ros ROS_NOBUILD in package tf2_ros
No Makefile in package tf2_ros
[rosmake-3] Finished <<< visualization_msgs ROS_NOBUILD in package visualization_msgs
No Makefile in package visualization_msgs
[rosmake-0] Starting >>> tf [ make ]
[rosmake-3] Starting >>> image_transport [ make ]
[rosmake-2] Finished <<< cv_bridge ROS_NOBUILD in package cv_bridge
No Makefile in package cv_bridge
[rosmake-2] Starting >>> image_geometry [ make ]
[rosmake-2] Finished <<< image_geometry ROS_NOBUILD in package image_geometry
No Makefile in package image_geometry
[rosmake-3] Finished <<< image_transport ROS_NOBUILD in package image_transport
No Makefile in package image_transport
[rosmake-0] Finished <<< tf ROS_NOBUILD in package tf
No Makefile in package tf
[rosmake-0] Starting >>> pcl_ros [ make ]
[rosmake-0] Finished <<< pcl_ros ROS_NOBUILD in package pcl_ros
No Makefile in package pcl_ros
[rosmake-1] Finished <<< lib_rgbdtools [PASS] [ 115.17 seconds ]
[rosmake-1] Starting >>> ccny_rgbd [ make ]
[ rosmake ] Last 40 linesny_rgbd: 78.6 sec ] [ 1 Active 69/70 Complete ]
{-------------------------------------------------------------------------------
/usr/include/boost/smart_ptr/shared_ptr.hpp:391:9: error: comparison between distinct pointer types ‘int_’ and ‘rgbdtools::FeatureDetector_’ lacks a cast [-fpermissive]
/usr/include/boost/smart_ptr/shared_ptr.hpp: In constructor ‘boost::shared_ptr::shared_ptr(Y_) [with Y = int, T = rgbdtools::FeatureDetector]’:
/usr/include/boost/smart_ptr/shared_ptr.hpp:392:9: instantiated from ‘void boost::shared_ptr::reset(Y_) [with Y = int, T = rgbdtools::FeatureDetector]’
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/feature_viewer.cpp:116:58: instantiated from here
/usr/include/boost/smart_ptr/shared_ptr.hpp:187:50: error: cannot convert ‘int_’ to ‘rgbdtools::FeatureDetector_’ in initialization
/usr/include/boost/smart_ptr/shared_ptr.hpp: In constructor ‘boost::shared_ptr::shared_ptr(Y_) [with Y = int, T = rgbdtools::FeatureDetector]’:
/usr/include/boost/smart_ptr/shared_ptr.hpp:392:9: instantiated from ‘void boost::shared_ptr::reset(Y_) [with Y = int, T = rgbdtools::FeatureDetector]’
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/visual_odometry.cpp:235:58: instantiated from here
/usr/include/boost/smart_ptr/shared_ptr.hpp:187:50: error: cannot convert ‘int_’ to ‘rgbdtools::FeatureDetector_’ in initialization
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp: In member function ‘void ccny_rgbd::KeyframeMapper::buildOctomap(octomap::OcTree&)’:
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp:755:63: warning: ‘void octomap::OccupancyOcTreeBase::insertScan(const octomap::Pointcloud&, const point3d&, const pose6d&, double, bool, bool) [with NODE = octomap::OcTreeNode, octomap::point3d = octomath::Vector3, octomap::pose6d = octomath::Pose6D]’ is deprecated (declared at /opt/ros/hydro/include/octomap/OccupancyOcTreeBase.h:142) [-Wdeprecated-declarations]
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp: In member function ‘void ccny_rgbd::KeyframeMapper::buildColorOctomap(octomap::ColorOcTree&)’:
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/apps/keyframe_mapper.cpp:796:63: warning: ‘void octomap::OccupancyOcTreeBase::insertScan(const octomap::Pointcloud&, const point3d&, const pose6d&, double, bool, bool) [with NODE = octomap::ColorOcTreeNode, octomap::point3d = octomath::Vector3, octomap::pose6d = octomath::Pose6D]’ is deprecated (declared at /opt/ros/hydro/include/octomap/OccupancyOcTreeBase.h:142) [-Wdeprecated-declarations]
make[3]: *** [CMakeFiles/feature_viewer_node.dir/src/apps/feature_viewer.cpp.o] Error 1
make[3]: Leaving directory /home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build' make[2]: *** [CMakeFiles/feature_viewer_node.dir/all] Error 2 make[2]: *** Waiting for unfinished jobs.... [ 87%] Building CXX object CMakeFiles/keyframe_mapper_node.dir/src/util.cpp.o make[3]: *** [CMakeFiles/visual_odometry_node.dir/src/apps/visual_odometry.cpp.o] Error 1 make[3]: Leaving directory/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build'
make[2]: *** [CMakeFiles/visual_odometry_node.dir/all] Error 2
[ 90%] Building CXX object CMakeFiles/rgbd_image_proc_app.dir/src/util.cpp.o
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp: In function ‘void ccny_rgbd::pathEigenAffineToROS(const AffineTransformVector&, ccny_rgbd::PathMsg&)’:
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:333:37: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp: In function ‘void ccny_rgbd::pathROSToEigenAffine(const PathMsg&, ccny_rgbd::AffineTransformVector&)’:
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:347:37: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp: In function ‘void ccny_rgbd::pathEigenAffineToROS(const AffineTransformVector&, ccny_rgbd::PathMsg&)’:
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:333:37: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp: In function ‘void ccny_rgbd::pathROSToEigenAffine(const PathMsg&, ccny_rgbd::AffineTransformVector&)’:
/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/src/util.cpp:347:37: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
Linking CXX shared library ../lib/librgbd_image_proc_app.so
make[3]: Leaving directory /home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build' [ 90%] Built target rgbd_image_proc_app Linking CXX executable ../bin/keyframe_mapper_node make[3]: Leaving directory/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build'
[ 90%] Built target keyframe_mapper_node
make[2]: Leaving directory /home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build' make[1]: *** [all] Error 2 make[1]: Leaving directory/home/rd/catkin_ws/src/ccny_rgbd_tools/ccny_rgbd/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package ccny_rgbd written to:
[ rosmake ] /home/rd/.ros/rosmake/rosmake_output-20150313-162646/ccny_rgbd/build_output.log
[rosmake-1] Finished <<< ccny_rgbd [FAIL] [ 78.72 seconds ]
[ rosmake ] Halting due to failure in package ccny_rgbd.
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:
[ rosmake ] Built 70 packages with 1 failures.
[ rosmake ] Summary output to directory
[ rosmake ] /home/rd/.ros/rosmake/rosmake_output-20150313-162646

Can you help resolve this error. Thanks

FeatureDetector raises an assertion error from OpenCV when using grayscale images.

Assertion is raised because OpenCV expects 3-channel BGR image here, but gets 1-channel grayscale instead.

Fix:

@@ -41,20 +42,28 @@ void FeatureDetector::findFeatures(RGBDFrame& frame)
   boost::mutex::scoped_lock(mutex_);

   const cv::Mat& input_img = frame.rgb_img;
-
-  // convert from RGB to grayscale
   cv::Mat gray_img(input_img.rows, input_img.cols, CV_8UC1);
-  cvtColor(input_img, gray_img, CV_BGR2GRAY);
+  const cv::Mat* ptarget_img = NULL;
+
+  if (input_img.type() != CV_8UC1)
+  {
+    // convert from RGB to grayscale only if necessary
+    cvtColor(input_img, gray_img, CV_BGR2GRAY);
+    ptarget_img = &gray_img;
+  }
+  else
+    ptarget_img = &input_img;

   // blur if needed
   if(smooth_ > 0)
   {
     int blur_size = smooth_*2 + 1;
-    cv::GaussianBlur(gray_img, gray_img, cv::Size(blur_size, blur_size), 0);
+    cv::GaussianBlur(*ptarget_img, *ptarget_img, cv::Size(blur_size, blur_size), 0);
   }

   // find the 2D coordinates of keypoints
-  findFeatures(frame, gray_img);
+  findFeatures(frame, *ptarget_img);

Add dynamic reconfig for max_map_z, max_range, max_stdev, pcd_map_res, octomap_res, etc

Hi,

  Thank you so much for providing this valuable open-source package! It goes well when I followed the installing procedure: http://wiki.ros.org/ccny_rgbd_tools.

  However, it encountered some rosmake errors as the following:

   make[3]: *** [CMakeFiles/rgbdtools.dir/src/rgbd_frame.cpp.o] Error 1

make[3]: Leaving directory /home/lili/fuerte_workspace/sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build' make[2]: *** [CMakeFiles/rgbdtools.dir/all] Error 2 make[2]: Leaving directory/home/lili/fuerte_workspace/sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/lili/fuerte_workspace/sandbox/ccny_rgbd_tools/lib_rgbdtools/rgbdtools_git/build'

   Could anyone provide some suggestions? Thanks in advance!