heguixiang / remove_ros_vins Goto Github PK

when i run the ./generate.sh it show issues:/usr/include/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h:51:71: error: expected unqualified-id before end of line I want to know how to install the eigen3.2.0, I install the eigen3.2.0 follow the internet, Can you tell me how to install the eigen or how to do for this question.thanks for you,and which one run pass can tell me how to do @heguixiang

做了简单的测试，没有可视化界面吗？程序跑到一半显示段错误？
不知道是不是我的配置问题

vins窗口一直显示红色的和蓝色的features。而Map visualization窗口则黑乎乎的几乎什么都没有。
是哪里出错了吗？
请指教，谢谢！

Why the code is aborting after

pangolin thread end
corrupted double-linked list
Aborted (core dumped)

?

I got a running error at the beginning of program:

X11 Error: BadValue (integer parameter out of range for operation)
X11 Error: BadValue (integer parameter out of range for operation)
terminate called after throwing an instance of 'std::runtime_error'
what(): Pangolin X11: Failed to create an OpenGL context

请问你们有查询过VINS运行时的内存吗?我这里内存一直是增长的,这正常吗?

在做实时测试的时候，我发现这套代码在一些情况下精度要好于源码，以为是作者在算法层面有所改动，但是粗看一遍代码也没有发现改动的迹象，也可能是我看的不够仔细，所以想来请教一下作者。

[ 2%] Building CXX object CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o
In file included from /vins-mono/src/vins_estimator/src/feature_tracker/feature_tracker.h:17:0,
from /vins-mono/src/vins_estimator/src/estimator_node.cpp:29:
/vins-mono/src/vins_estimator/src/feature_tracker/tic_toc.h:7:7: error: redefinition of ‘class TicToc’
class TicToc
^
In file included from /vins-mono/src/vins_estimator/src/estimator.h:6:0,
from /vins-mono/src/vins_estimator/src/estimator_node.cpp:11:
/vins-mono/src/vins_estimator/src/utility/tic_toc.h:7:7: error: previous definition of ‘class TicToc’
class TicToc
^
CMakeFiles/vins_estimator.dir/build.make:62: recipe for target 'CMakeFiles/vins_estimator.dir/src/estimator_node.cpp.o' failed

您好，对您这段代码，编译正常，运行几帧后出现这个错误。环境是ubuntu16.04
gyroscope bias initial calibration -0.00601114 0.00908494 0.0770489 result g 9.78907 -0.456214 -9.08413 -3.61889 refine 9.81007 -0.454415 -9.10638 -3.62006 position: -0.00709419 0.0133606 -0.106116 terminate called after throwing an instance of 'std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >'

您好，这个直接在kdevelop里能编译成功吗？我直接下载编译出现了了跟ros相关的问题，这个是已经完整去掉ros的版本吗？（同时，感谢您的工作，很棒！）

gyroscope bias initial calibration -0.0104931 0.0352662 0.0750656
result g 9.89603 -0.590548 -9.42942 -2.94427
refine 9.81007 -0.533594 -9.32436 -3.00151
terminate called after throwing an instance of 'std::string'
Aborted (core dumped)

I debug the code. There is a error in Estimator::optimization().

Hi. Thanks to upload ur code.
I would want to know how to save map after running program.
Original VINS has map save function.
Do you implement function of save map??

average_parallax:35.1556 choose l :4 and newest frame to triangulate the whole structure, corres.size():40
relative_R:
0.999456 0.0290799 0.0155548
-0.029923 0.997924 0.0570344
-0.013864 -0.0574688 0.998251
relative_T:
-0.0799165
-0.953018
-0.292183
l :4

我会在这里报错,我猜测可能是ceres的版本不对导致的

请问你这个版本支持重定位吗？我没看到加载pose_graph相关代码

I build the VINS follow the readme ,when i run the ./generate.sh it well be issue like:/usr/include/eigen3/Eigen/src/SparseCore/SparseUtil.h:122:79: error: ‘evaluator’ was not declared in this scope,I do not know why,please tell me how to do for this issue,thanks.

Why my result is like this,I have run like your readme.txt, the result looks like after it read the euroc_config.yaml,it stay there without the output of position.
Sorry about the english description for my computer now cannot input in chinese(>_<)

你好 我每次运行十秒左右之后终端就出现：** stack smashing detected *，通过终端top命令查看内存，发现内存占用率并不高，不到20% ，但是看到轨迹运行到同一个位置突然出现 stack smashing detected *问题。并且我通过euroc_config.yaml文件把loop_closure: 1改为0 之后 就没有出现 stack smashing detected **问题了。所以我推测应该是闭环检测代码出了问题。请问你知道这个问题怎么解决吗？
并且我在一些位置输出cout来看程序运行到哪个地方的时候 ，程序有时候可以运行时间长点还是断开，有些位置写cout整个程序可以运行完，请问这是什么情况？

按照去掉ROS的版本成功编译到android端，但是在高通820的平台上运行效率很差，主要是后端optimization的时间太长，需要500~1000ms左右，而前端部分的计算速度平均30ms左右，感觉比较奇怪，不知为什么。
如果使用VINS Mobile版本的实现代码会有改善吗？好像差别不大