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Pointcloud-based graph SLAM written in C++ using open3D library.

License: BSD 3-Clause "New" or "Revised" License

CMake 3.59% C++ 89.42% Shell 0.22% Lua 6.62% C 0.15%

ros cpp mapping open3d pointcloud robotics slam open3d-catkin lidar localization

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open3d_slam's Issues

Problem build open3d_slam_lua_io

Hi, i'm getting this error when try to build on ubuntu 20.04 with ROS Noetic

Do you know why?

open3d_slam_ros inconclusive (rgb-d camera)

Hello,

I have completed the installation with the mentioned steps.

roslaunch open3d_slam_ros mapping.launch

Can we command the files in the output of open3d_slam_ros using only the lidar sensor?

can i get results with stereo or rgb-d camera? If so, can you specify how to do it?

thanks

error during package startup

Hello all,

I followed the documentation to install open3d_slam with ROS noetic support. Everything builds without any error. . It is important to mention that I installed and run the package within my own docker. When I try to launch the mapping launch I face the following issue:

Odometry failed!!!!!

I run
roslaunch open3d_slam_ros mapping_rosbag.launch

Bellow is logs:

WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.745 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 99
reference size: 61


WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: Skipping the refinement step, fitness: 1
Scan matching time elapsed: 0
preeIcp: 1.342 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.183381, 2.188113, -0.640971] ; q:[0.016853, 0.016699, -0.102181, 0.994483] ; rpy (deg):[1.726408, 2.100782, -11.701245]
postIcp: t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 51


t:[0.183381, 2.188113, -0.640971] ; q:[0.016853, 0.016699, -0.102181, 0.994483] ; rpy (deg):[1.726408, 2.100782, -11.701245]

WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.23913
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.933 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 44
reference size: 41


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.24105
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 3.018 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 49
reference size: 24


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.24703
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.022 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 36


WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.116 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 23


WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.034 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 41


WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.069 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 89


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.33559
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[9.311380, -4.186777, -0.597763] ; q:[-0.051485, -0.159464, -0.008617, 0.985823] ; rpy (deg):[-5.973606, -18.378523, -0.034356]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 3.175 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 38
reference size: 44


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.33727
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.873 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 98
reference size: 4


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.34375
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.788 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 54


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.00048
latest: 0.674 msec 
Fitness: 0
RMSE: 0.000480
Transform: 

requested: 1.39631
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 38


WARNING: odometry has failed!!!! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.69 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 43


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]
postIcp: t:[-0.456941, 0.361454, -0.187544] ; q:[-0.005717, 0.018411, -0.080837, 0.996541] ; rpy (deg):[-0.823960, 2.049944, -9.289812]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.42991
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.747 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 99
reference size: 50


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.4316
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 10.232 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 40
reference size: 58


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.43687
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.769 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 15


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.49929
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.638 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 39
reference size: 47


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.52786
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.909 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 77
reference size: 7


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.54126
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.431 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 76


WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.631 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 40


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.60367
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 7.47 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 98
reference size: 23


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.62215
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.6 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 66


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.63031
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.735 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 28


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.66314
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.79 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 39


WARNING: odometry has failed!!!! 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.701 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 48


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.71527
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 3.585 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 82
reference size: 67


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.72203
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.692 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 36


WARNING: odometry has failed!!!! 
Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.72406
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 1.178 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 82


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.73423
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.71 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 44


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.76687
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 2.793 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 100
reference size: 55


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.77815
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
Odometry failed!!!!! 
Size of the odom buffer: 1
Scan matching time elapsed: 0.586 msec 
Fitness: 0
RMSE: 0
Transform: 
t:[0.000000, 0.000000, 0.000000] ; q:[0.000000, 0.000000, 0.000000, 1.000000] ; rpy (deg):[0.000000, 0.000000, 0.000000]
target size: 6
reference size: 63


WARNING: odometry has failed!!!! 
Skipping the refinement step, fitness: 0
preeIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]
postIcp: t:[-0.990463, 2.726032, -0.743947] ; q:[0.019455, 0.040491, -0.124027, 0.991261] ; rpy (deg):[1.640612, 4.881795, -14.193679]

Weird, the odom buffer does not seem to have the transform!!! 
odom buffer size: 1/2000
earliest: 0.00048
latest: 0.00048
requested: 1.81794
WARNING: odomToRangeSensorBuffer_ DOES NOT HAVE THE DESIRED TRANSFORM! 
 going to attempt the scan to map refinement anyway 
terminate called after throwing an instance of 'std::runtime_error'
 what():  ScanToMapIcp::narrow cropped size is zero val: 0 is not gt than: 0
[mapping_node-1] process has died [pid 60925, exit code -6, cmd /home/ly/catkin_ws/devel/lib/open3d_slam_ros/mapping_node __name:=mapping_node __log:=/home/ly/.ros/log/a95c8554-aeae-11ee-8cca-f72c30a15056/mapping_node-1.log].
log file: /home/ly/.ros/log/a95c8554-aeae-11ee-8cca-f72c30a15056/mapping_node-1*.log

It can't build map,it's the result, this lidar Z axis is X axis and X is Z

Is there someone meet this question?

Question regarding the pointcloud data

the documentation says the input from open3d slam is only a pointcloud2 message.

i publish the point cloud data via previously read .pcd files.

are there any other requirements for the pointcloud data or is it sufficient to use the pointcloud2 message with the pointFields x,y,z ?

Does the pointcloud need to be organized?

Best regards

Can not compile open3d_slam_ros

Hello, I am trying to run this salm on Ubuntu 18 with ROS Melodic.
I have follow the installation guide and I have install the missing dependency.
When I launch catkin build I get the following error related to fmt:

Errors     << open3d_conversions:make /home/ctrazzi/open3d_ws/logs/open3d_conversions/build.make.000.log                                                                                    
/usr/bin/ld: /usr/local/lib/libfmt.a(format.cc.o): relocation R_X86_64_PC32 against symbol `stderr@@GLIBC_2.2.5' can not be used when making a shared object; recompile with -fPIC
/usr/bin/ld: final link failed: Bad value
collect2: error: ld returned 1 exit status
make[2]: *** [/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so] Error 1
make[1]: *** [CMakeFiles/open3d_conversions.dir/all] Error 2
make: *** [all] Error 2
cd /home/ctrazzi/open3d_ws/build/open3d_conversions; catkin build --get-env open3d_conversions | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

In the issues, I have found a similar problem https://github.com/leggedrobotics/open3d_slam/issues/34, but the solutions suggested did not work.
So I have found this solution https://stackoverflow.com/a/38297422 and now I have the following errors:

/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::Qhull::Qhull()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(bool)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `open3d::io::WritePointCloudToPCD(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, open3d::geometry::PointCloud const&, open3d::io::WritePointCloudOption const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::QhullFacetList::count() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::PointCoordinates::~PointCoordinates()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `open3d::io::ReadPoseGraph(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, open3d::pipelines::registration::PoseGraph&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::QhullVertex::s_empty_vertex'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::QhullFacet::vertices() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::CharReaderBuilder::newCharReader() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::~Value()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::Qhull::runQhull(char const*, int, int, double const*, char const*)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `open3d::io::WritePoseGraph(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, open3d::pipelines::registration::PoseGraph const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asBool() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::StreamWriterBuilder::StreamWriterBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `qh_setendpointer'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::size() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator=(Json::Value const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator[](char const*) const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::append(Json::Value const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(Json::ValueType)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asInt() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::CharReaderBuilder::CharReaderBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(double)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::QhullFacet::s_empty_facet'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::get(char const*, Json::Value const&) const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asDouble() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::writeString(Json::StreamWriter::Factory const&, Json::Value const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::PointCoordinates::append(int, double const*)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(int)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::clear()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `qh_pointid'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::CharReaderBuilder::~CharReaderBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::PointCoordinates::PointCoordinates(int, std::string const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator=(Json::Value&&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::toStyledString() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator[](int) const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::isObject() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::Qhull::~Qhull()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asString() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::QhullVertexSet::~QhullVertexSet()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::StreamWriterBuilder::~StreamWriterBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `orgQhull::Qhull::facetList() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::append(Json::Value&&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator[](char const*)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(char const*)'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/ctrazzi/open3d_ws/devel/.private/open3d_slam_ros/lib/open3d_slam_ros/adjacency_graph_example_node] Error 1
make[1]: *** [CMakeFiles/adjacency_graph_example_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/local/lib/libOpen3D.a(Qhull.cpp.o): In function `open3d::geometry::Qhull::ComputeDelaunayTetrahedralization(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&)':
Qhull.cpp:(.text+0x237): undefined reference to `orgQhull::PointCoordinates::PointCoordinates(int, std::string const&)'
Qhull.cpp:(.text+0x275): undefined reference to `orgQhull::PointCoordinates::append(int, double const*)'
Qhull.cpp:(.text+0x281): undefined reference to `orgQhull::Qhull::Qhull()'
Qhull.cpp:(.text+0x2dd): undefined reference to `orgQhull::Qhull::runQhull(char const*, int, int, double const*, char const*)'
Qhull.cpp:(.text+0x30b): undefined reference to `orgQhull::Qhull::facetList() const'
Qhull.cpp:(.text+0x313): undefined reference to `orgQhull::QhullFacetList::count() const'
Qhull.cpp:(.text+0x473): undefined reference to `orgQhull::QhullFacet::s_empty_facet'
Qhull.cpp:(.text+0x47f): undefined reference to `orgQhull::QhullFacet::s_empty_facet'
Qhull.cpp:(.text+0x827): undefined reference to `orgQhull::Qhull::~Qhull()'
Qhull.cpp:(.text+0x833): undefined reference to `orgQhull::PointCoordinates::~PointCoordinates()'
Qhull.cpp:(.text+0x8f4): undefined reference to `orgQhull::QhullFacet::vertices() const'
Qhull.cpp:(.text+0x951): undefined reference to `qh_setendpointer'
Qhull.cpp:(.text+0x97a): undefined reference to `qh_pointid'
Qhull.cpp:(.text+0xa43): undefined reference to `orgQhull::QhullVertex::s_empty_vertex'
Qhull.cpp:(.text+0xa5f): undefined reference to `orgQhull::QhullVertexSet::~QhullVertexSet()'
Qhull.cpp:(.text+0xf25): undefined reference to `orgQhull::QhullFacet::s_empty_facet'
Qhull.cpp:(.text+0x10ad): undefined reference to `orgQhull::Qhull::~Qhull()'
Qhull.cpp:(.text+0x10b9): undefined reference to `orgQhull::PointCoordinates::~PointCoordinates()'
Qhull.cpp:(.text+0x1142): undefined reference to `orgQhull::QhullVertexSet::~QhullVertexSet()'
/usr/local/lib/libOpen3D.a(Qhull.cpp.o): In function `open3d::geometry::Qhull::ComputeConvexHull(std::vector<Eigen::Matrix<double, 3, 1, 0, 3, 1>, std::allocator<Eigen::Matrix<double, 3, 1, 0, 3, 1> > > const&, bool)':
Qhull.cpp:(.text+0x14cc): undefined reference to `orgQhull::PointCoordinates::PointCoordinates(int, std::string const&)'
Qhull.cpp:(.text+0x1505): undefined reference to `orgQhull::PointCoordinates::append(int, double const*)'
Qhull.cpp:(.text+0x150f): undefined reference to `orgQhull::Qhull::Qhull()'
Qhull.cpp:(.text+0x15a7): undefined reference to `orgQhull::Qhull::runQhull(char const*, int, int, double const*, char const*)'
Qhull.cpp:(.text+0x15d5): undefined reference to `orgQhull::Qhull::facetList() const'
Qhull.cpp:(.text+0x15dd): undefined reference to `orgQhull::QhullFacetList::count() const'
Qhull.cpp:(.text+0x173a): undefined reference to `orgQhull::QhullFacet::s_empty_facet'
Qhull.cpp:(.text+0x1746): undefined reference to `orgQhull::QhullFacet::s_empty_facet'
Qhull.cpp:(.text+0x1ba1): undefined reference to `orgQhull::Qhull::~Qhull()'
Qhull.cpp:(.text+0x1bab): undefined reference to `orgQhull::PointCoordinates::~PointCoordinates()'
Qhull.cpp:(.text+0x1c3f): undefined reference to `orgQhull::QhullFacet::vertices() const'
Qhull.cpp:(.text+0x1c99): undefined reference to `qh_setendpointer'
Qhull.cpp:(.text+0x1cc0): undefined reference to `qh_pointid'
Qhull.cpp:(.text+0x1eb3): undefined reference to `orgQhull::QhullVertex::s_empty_vertex'
Qhull.cpp:(.text+0x1ecb): undefined reference to `orgQhull::QhullVertexSet::~QhullVertexSet()'
Qhull.cpp:(.text+0x2096): undefined reference to `orgQhull::QhullFacet::s_empty_facet'
Qhull.cpp:(.text+0x21fc): undefined reference to `orgQhull::Qhull::~Qhull()'
Qhull.cpp:(.text+0x2206): undefined reference to `orgQhull::PointCoordinates::~PointCoordinates()'
Qhull.cpp:(.text+0x227d): undefined reference to `orgQhull::QhullVertexSet::~QhullVertexSet()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(bool)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `open3d::core::Device::ToString[abi:cxx11]() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `open3d::io::WritePointCloudToPCD(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, open3d::geometry::PointCloud const&, open3d::io::WritePointCloudOption const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `open3d::io::ReadPoseGraph(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, open3d::pipelines::registration::PoseGraph&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `std::experimental::filesystem::v1::path::_M_split_cmpts()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_sgetri'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `cblas_dgemm'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::CharReaderBuilder::newCharReader() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::~Value()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `std::experimental::filesystem::v1::status(std::experimental::filesystem::v1::path const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_sgetrf'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam_ros/lib/libopen3d_slam_ros.so: undefined reference to `open3d::io::ReadPointCloud(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, open3d::geometry::PointCloud&, open3d::io::ReadPointCloudOption const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `open3d::io::WritePoseGraph(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, open3d::pipelines::registration::PoseGraph const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asBool() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::StreamWriterBuilder::StreamWriterBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `std::experimental::filesystem::v1::is_empty(std::experimental::filesystem::v1::path const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::size() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator=(Json::Value const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator[](char const*) const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::append(Json::Value const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(Json::ValueType)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asInt() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::CharReaderBuilder::CharReaderBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(double)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `std::experimental::filesystem::v1::temp_directory_path()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `cblas_sgemm'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::get(char const*, Json::Value const&) const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_dgesvd'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `std::experimental::filesystem::v1::copy(std::experimental::filesystem::v1::path const&, std::experimental::filesystem::v1::path const&, std::experimental::filesystem::v1::copy_options)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `open3d::utility::Logger::VError(char const*, int, char const*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_dgetri'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asDouble() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::writeString(Json::StreamWriter::Factory const&, Json::Value const&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(int)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::clear()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::CharReaderBuilder::~CharReaderBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `std::experimental::filesystem::v1::remove_all(std::experimental::filesystem::v1::path const&, std::error_code&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator=(Json::Value&&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::toStyledString() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator[](int) const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_dgetrf'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::isObject() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::asString() const'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::StreamWriterBuilder::~StreamWriterBuilder()'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_dgels'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::append(Json::Value&&)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_sgesv'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_sgesvd'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_sgels'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::operator[](char const*)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_slam/lib/libopen3d_slam.so: undefined reference to `Json::Value::Value(char const*)'
/home/ctrazzi/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `LAPACKE_dgesv'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/ctrazzi/open3d_ws/devel/.private/open3d_slam_ros/lib/open3d_slam_ros/mapping_node] Error 1
make[1]: *** [CMakeFiles/mapping_node.dir/all] Error 2
make: *** [all] Error 2
cd /home/ctrazzi/open3d_ws/build/open3d_slam_ros; catkin build --get-env open3d_slam_ros | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...........................................................................................................................................................

I have install fmt from the repository https://github.com/fmtlib/fmt v9.1.0,
I have also try to install the library with apt-get : https://askubuntu.com/a/1205769
I have install Open3D with apt-get https://open3d-slam.readthedocs.io/en/latest/open3d_catkin.html#install-open3d-from-a-ppa.

Can you please help me?

fmt compilation error

Hello,

Seems like the conversions library is using fmt but I'm getting the following error:

Errors     << open3d_slam_ros:make /home/luis-usb/open3d_ws/logs/open3d_slam_ros/build.make.002.log                                
/usr/bin/ld: /home/luis-usb/open3d_ws/devel/.private/open3d_conversions/lib/libopen3d_conversions.so: undefined reference to `fmt::v9::vformat[abi:cxx11](fmt::v9::basic_string_view<char>, fmt::v9::basic_format_args<fmt::v9::basic_format_context<fmt::v9::appender, char> >)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/mapping_node.dir/build.make:180: /home/luis-usb/open3d_ws/devel/.private/open3d_slam_ros/lib/open3d_slam_ros/mapping_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:1835: CMakeFiles/mapping_node.dir/all] Error 2

Changing pcl of point cloud colorizer to open3d

The code of the point_cloud_colorizer and point_cloud_colorizer_ros can be found here: https://github.com/leggedrobotics/open3d_slam/tree/feature/colored_dense_maps

@pole95, do you think it would be easily possible to replace the few pcl conversions etc that are happening there to open3d slam?
Fan told me, you helped him/did it for his repo.

error during package startup with realsene

Hello all,
installed and launched o3d_slam, but when data flow from camera started, node began to issue this error:

Using Sick Multiscan Lidar in ROS and getting "Trying to insert and empyt cloud!!! Skipping the measurement" warning

I am using SiCK MULTiScan Lidar which gives pointcloud2 data in ROS as below

. When I run the rosbag file with the open3d_slam_ros with mapping_rosbag.launch file, I am getting the following error repeatedly:-

"Trying to insert and empyt cloud!!! Skipping the measurement"

What params do I need to change inorder to use the Sick lidar data?

how to build without ros (like on macOS) and visualize?

Open3d_catkin can't find PPA-installed Open3D

Hey! 🙂

I followed the Installation instructions, choosing to fetch Open3D from a PPA, and then trying to compile open3d_catkin.

However, as soon as I run catkin build open3d_catkin (I configure my catkin workspace to build with cmake flag RelWithDebInfo by default), I get the following error message:

____________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________________
Errors     << open3d_catkin:cmake /home/ynava/workspaces/open3dslam_ws/logs/open3d_catkin/build.cmake.000.log                                                                                                                                                                                            
INFO: Found Open3D.
Open3D libraries: Open3D::Open3D
Open3D include path: /usr/include , /usr/lib/x86_64-linux-gnu/cmake/Open3D/../../../include/
CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:300 (message):
  catkin_package() absolute include dir
  '/usr/lib/x86_64-linux-gnu/cmake/Open3D/../../../include/' does not exist
Call Stack (most recent call first):
  /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:54 (catkin_package)

It seems that the library is not found correctly within my system.

What could be happening?

Thanks in advance for your support.

Best,
Yoshua

Output topic empty

Good morning, me and my colleagues from University of Genoa are trying to use the package together with AirSim simulator and its ros_bridge to perform SLAM in a virtual environment. Our vehicle is equipped with a rotative LiDAR (16 channels, 1000 points/sec) which on Rviz produces Pointcloud that seems to be very sparse. Unfortunately, the output topic of your package is available but nothing is received (warning on the status).
Is it possible that with a very sparse Pointcloud as input, the algorithm fails to build the map? Because we would expect a low quality one in this case.

Thank you

System Eigen needs to be included in CMakeLists.txt of user of open3d_catkin

E.g. when including PointCloud.h, it complains that "Eigen/core" can not be found.

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