openxrlab / xrslam Goto Github PK

Hello, I am very interested in trying out XRSLAM, while building for ROS, I got this error, and how to resolve this issue

/home/noetic/xrslam/xrslam-ros/src/xrslam-ros/src/xrslam_node.cpp: In function ‘int main(int, char**)’:
/home/noetic/xrslam/xrslam-ros/src/xrslam-ros/src/xrslam_node.cpp:143:79: error: too few arguments to function ‘int XRSLAMCreate(const char*, const char*, const char*, const char*, void**)’
  143 |         slam_config_path.c_str(), device_config_path.c_str(), "", "XRSLAM ROS");

Update:
I had to modify the function declaration in xrslam-interface/include/XRSLAM.h :

int XRSLAMCreate(const char *slam_config_path, const char *device_config_path,
                 const char *license_path, const char *product_name,
                 void **config);

, to be:

int XRSLAMCreate(const char *slam_config_path, const char *device_config_path,
                 const char *license_path, const char *product_name);

After that I was able to build, but once I do roslaunch xrslam_ros euroc.launch
I get process has died

Hi, Thanks for your great job.
I have and OAKD which has IMU + Camera integrated. is there any trick i should do to be able to use my data?
cuz I get in the following loop all the time.

        case DatasetReader::AGAIN:{
            continue;
            }

would u mind guiding me? do I have to get Synced data? may I use unsynced data??

directory:"xrslam/xrslam-ios/visualizer/configs/‘’
not found the iPhone14pro/pro max.yaml .Can you add it ? Thankyou

我这边编译通过了，也可以显示轨迹，但是可视化图像异常，没有显示当前帧图像及提取的地图点：

Considering most VR headsets use 2+ headsets (4 on quest 2/ quest pro/ pico 4/ etc...) are there any plans to be able to add more than just monocular visual-inertial slam?

@huanggan52 @wangnancpp

when i try to build xrslam, under tag.h, error occurs all are related to only constexpr
error: non-type template argument is not a constant expression
Kindly help

home/xrslam/xrslam/src/xrslam/utility/tag.h:13:53: error: no return statement in constexpr function
[[nodiscard]] static constexpr std::string_view enum_value_name() noexcept {
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:42:39: error: constexpr variable 'valid' must be initialized by a constant expression
constexpr std::array<bool, n> valid{
^ ~
/home/xrslam/xrslam/src/xrslam/utility/tag.h:51:16: note: in instantiation of function template specialization 'xrslam_0_5_0::Tagged<xrslam_0_5_0::FrameTag, void>::enum_value_count<0, 1, 2, 3, 4, 5, 6, 7,
8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57,
58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105,
106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127>' requested here
return enum_value_count(all_possible_tags);
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:54:45: note: in instantiation of member function 'xrslam_0_5_0::Tagged<xrslam_0_5_0::FrameTag, void>::enum_size' requested here
static constexpr size_t tag_enum_size = enum_size();
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:55:32: note: in instantiation of static data member 'xrslam_0_5_0::Tagged<xrslam_0_5_0::FrameTag, void>::tag_enum_size' requested here
using bitset = std::bitset<tag_enum_size>;
^
/home/xrslam/xrslam/src/xrslam/map/frame.h:24:22: note: in instantiation of template class 'xrslam_0_5_0::Tagged<xrslam_0_5_0::FrameTag, void>' requested here
class Frame : public Tagged, public Identifiable {
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:36:5: note: control reached end of constexpr function
}
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:43:15: note: in call to 'enum_value_name()'
{!enum_value_name<static_cast(I)>().empty()...}};
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:44:23: error: constexpr variable 'num_valid' must be initialized by a constant expression
constexpr int num_valid = ((valid[I] ? 1 : 0) + ...);
^ ~~~~~~~~~~~~~~~~~~
/home/xrslam/xrslam/src/xrslam/utility/tag.h:44:37: note: initializer of 'valid' is not a constant expression
constexpr int num_valid = ((valid[I] ? 1 : 0) + ...);
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:42:39: note: declared here
constexpr std::array<bool, n> valid{
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:54:29: error: constexpr variable 'tag_enum_size' must be initialized by a constant expression
static constexpr size_t tag_enum_size = enum_size();
^ ~~~~~~~~~~~
/home/xrslam/xrslam/src/xrslam/utility/tag.h:55:32: note: in instantiation of static data member 'xrslam_0_5_0::Tagged<xrslam_0_5_0::FrameTag, void>::tag_enum_size' requested here
using bitset = std::bitset<tag_enum_size>;
^
/home/xrslam/xrslam/src/xrslam/map/frame.h:24:22: note: in instantiation of template class 'xrslam_0_5_0::Tagged<xrslam_0_5_0::FrameTag, void>' requested here
class Frame : public Tagged, public Identifiable {
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:36:5: note: control reached end of constexpr function
}
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:43:15: note: in call to 'enum_value_name()'
{!enum_value_name<static_cast(I)>().empty()...}};
^
/home/xrslam/xrslam/src/xrslam/utility/tag.h:51:16: note: in call to 'enum_value_count({})'
return enum_value_count(all_possible_tags);

Hi! This code looks great, thank you for making it available.

I have it built and compiled on Windows, but when i try to run the euroc dataset, i see:

`Microsoft Windows [Version 10.0.22000.856]
(c) Microsoft Corporation. All rights reserved.

D:\testing\xrprimer-main\xrslam-main\build\xrslam-pc\player\Release>xrslam-pc-player -c configs/euroc.yaml --tum trajectory.tum euroc:///D:/datasets/MH_05_difficult
2022-09-02 16:33:44.656 - [XRSLAM][info]
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2022-09-02 16:33:44.656 - [XRSLAM][info] Configurations:
Config::camera_intrinsic:
4.58654e+02 0.00000e+00 3.67215e+02
0.00000e+00 4.57296e+02 2.48375e+02
0.00000e+00 0.00000e+00 1.00000e+00

Config::camera_to_body_rotation:
-7.70718e-03 1.04993e-02 7.01753e-01 7.12301e-01

Config::camera_to_body_translation:
-2.16401e-02 -6.46770e-02 9.81073e-03

Config::imu_to_body_rotation:
0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00

Config::imu_to_body_translation:
0.00000e+00 0.00000e+00 0.00000e+00

Config::keypoint_noise_cov:
5.00000e-01 0.00000e+00
0.00000e+00 5.00000e-01

Config::gyroscope_noise_cov:
2.87913e-08 0.00000e+00 0.00000e+00
0.00000e+00 2.87913e-08 0.00000e+00
0.00000e+00 0.00000e+00 2.87913e-08

Config::accelerometer_noise_cov:
4.00000e-06 0.00000e+00 0.00000e+00
0.00000e+00 4.00000e-06 0.00000e+00
0.00000e+00 0.00000e+00 4.00000e-06

Config::gyroscope_bias_noise_cov:
3.76088e-10 0.00000e+00 0.00000e+00
0.00000e+00 3.76088e-10 0.00000e+00
0.00000e+00 0.00000e+00 3.76088e-10

Config::accelerometer_bias_noise_cov:
9.00000e-06 0.00000e+00 0.00000e+00
0.00000e+00 9.00000e-06 0.00000e+00
0.00000e+00 0.00000e+00 9.00000e-06

Config::sliding_window_size: 10
Config::sliding_window_force_keyframe_landmarks: 35
Config::sliding_window_tracker_frequent: 1
Config::feature_tracker_min_keypoint_distance: 1.00000e+01
Config::feature_tracker_max_keypoint_detection: 1000
Config::feature_tracker_max_init_frames: 60
Config::feature_tracker_max_frames: 20
Config::feature_tracker_predict_keypoints: true
Config::initializer_keyframe_gap: 5
Config::initializer_min_matches: 50
Config::initializer_min_parallax: 1.00000e+01
Config::initializer_min_triangulation: 20
Config::initializer_min_landmarks: 30
Config::initializer_refine_imu: true
Config::visual_localization_enable: false
Config::visual_localization_config_ip: 0.0.0.0
Config::visual_localization_config_port: 0
Config::solver_iteration_limit: 30
Config::solver_time_limit: 1.00000e+06

THREADING DISABLE

GLFW Error: WGL: Failed to make context current: The handle is invalid.
GLFW Error: WGL: Failed to make context current: The requested transformation operation is not supported.
GLFW Error: WGL: Failed to make context current: The requested transformation operation is not supported.
GLFW Error: WGL: Failed to make context current: The requested transformation operation is not supported.
`

And an empty UI:

I press the 'Stopped' button, but nothing happens.
What am i missing?
Thanks!

It is possible to add support android,thanks

Would it be possible to build the project as WebAssembly, so it's possible to run from a browser on Android and iOS?

I'm interested in building the sample iOS app that has some videos posted, but I'm not clear on how to reproduce those results. A couple specific questions. Thanks in advance for your help.

What exactly do these instructions build? Is this building an iOS framework or the sample application?

Is this line up-to-date? I don't see a build-ios.sh script in the primer repository.

hi,thanks job but read http://doc.openxrlab.org.cn/openxrlab_document/ARDemo/ARdemo.html in "Data capturer on your phone" cant find capture application source code . I'm not sure where I'm going wrong, I want to try compiling the capture program myself and learn. thanks

Is this based on orbslam? I haven't had a chance to dig into the details but this info would be helpful

Hi, I got some problem about coordinate transformation.

I'm confused about landmark get from track->get_landmark_point(); on inspect_debug(sliding_window_landmarks, landmarks) .Is that at the cameara coordinate or IMU/Body coordinate ?

And about the LightVis, is it the same as Pagolin which using OpenCV coord ? OR , is it using the original OpenGL coord ?

我使用了unbuntu，
执行 cmake -S. -Bbuild -DBUILD_EXTERNAL=ON -DCMAKE_BUILD_TYPE=Release -DENABLE_PRECOMPILED_HEADERS=OFF && cmake --build build --target install -j8 这个命令的时候，
`
gmake[2]: *** [CMakeFiles/pybind11-populate.dir/build.make:99: pybind11-populate-prefix/src/pybind11-populate-stamp/pybind11-populate-download] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/pybind11-populate.dir/all] Error 2
gmake: *** [Makefile:91: all] Error 2

CMake Error at /usr/share/cmake-3.22/Modules/FetchContent.cmake:1087 (message):
Build step for pybind11 failed: 2
Call Stack (most recent call first):
/usr/share/cmake-3.22/Modules/FetchContent.cmake:1216:EVAL:2 (__FetchContent_directPopulate)
/usr/share/cmake-3.22/Modules/FetchContent.cmake:1216 (cmake_language)
/usr/share/cmake-3.22/Modules/FetchContent.cmake:1259 (FetchContent_Populate)
cmake/external/pybind11.cmake:17 (FetchContent_MakeAvailable)
CMakeLists.txt:71 (include)`

就卡到这里了。 这是为什么，c++，gcc，cmake，都符合要求

Followed instruction, I construct my folder structure like this (the MH_03_medium folder contains dataset):
OpenXRLab
├── xrprimer
├── xrslam
│ ├── data
│ │ ├── EuRoC
│ │ │ ├── MH_03_medium
When I try to run XRSLAM by the following command:
./build/xrslam-pc/player/xrslam-pc-player -c configs/euroc.yaml --tum trajectory.tum euroc:///data/EuRoC/MH_03_medium/mav0
I can see a GUI opened, but nothing happened

The terminal showed like this:

`2023-01-18 12:09:20.940 - [XRSLAM][info]
██╗ ██╗██████╗ ███████╗██╗ █████╗ ███╗ ███╗
╚██╗██╔╝██╔══██╗██╔════╝██║ ██╔══██╗████╗ ████║
╚███╔╝ ██████╔╝███████╗██║ ███████║██╔████╔██║
██╔██╗ ██╔══██╗╚════██║██║ ██╔══██║██║╚██╔╝██║
██╔╝ ██╗██║ ██║███████║███████╗██║ ██║██║ ╚═╝ ██║
╚═╝ ╚═╝╚═╝ ╚═╝╚══════╝╚══════╝╚═╝ ╚═╝╚═╝ ╚═╝width is not integer
2023-01-18 12:09:20.940 - [XRSLAM][info] Configurations:
Config::camera_intrinsic:
4.58654e+02 0.00000e+00 3.67215e+02
0.00000e+00 4.57296e+02 2.48375e+02
0.00000e+00 0.00000e+00 1.00000e+00

Config::camera_to_body_rotation:
-7.70718e-03 1.04993e-02 7.01753e-01 7.12301e-01

Config::camera_to_body_translation:
-2.16401e-02 -6.46770e-02 9.81073e-03

Config::imu_to_body_rotation:
0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00

Config::imu_to_body_translation:
0.00000e+00 0.00000e+00 0.00000e+00

Config::keypoint_noise_cov:
5.00000e-01 0.00000e+00
0.00000e+00 5.00000e-01

Config::gyroscope_noise_cov:
2.87913e-08 0.00000e+00 0.00000e+00
0.00000e+00 2.87913e-08 0.00000e+00
0.00000e+00 0.00000e+00 2.87913e-08

Config::accelerometer_noise_cov:
4.00000e-06 0.00000e+00 0.00000e+00
0.00000e+00 4.00000e-06 0.00000e+00
0.00000e+00 0.00000e+00 4.00000e-06

Config::gyroscope_bias_noise_cov:
3.76088e-10 0.00000e+00 0.00000e+00
0.00000e+00 3.76088e-10 0.00000e+00
0.00000e+00 0.00000e+00 3.76088e-10

Config::accelerometer_bias_noise_cov:
9.00000e-06 0.00000e+00 0.00000e+00
0.00000e+00 9.00000e-06 0.00000e+00
0.00000e+00 0.00000e+00 9.00000e-06

Config::sliding_window_size: 10
Config::sliding_window_force_keyframe_landmarks: 35
Config::sliding_window_tracker_frequent: 1
Config::feature_tracker_min_keypoint_distance: 1.00000e+01
Config::feature_tracker_max_keypoint_detection: 1000
Config::feature_tracker_max_init_frames: 60
Config::feature_tracker_max_frames: 20
Config::feature_tracker_predict_keypoints: true
Config::initializer_keyframe_gap: 5
Config::initializer_min_matches: 50
Config::initializer_min_parallax: 1.00000e+01
Config::initializer_min_triangulation: 20
Config::initializer_min_landmarks: 30
Config::initializer_refine_imu: true
Config::visual_localization_enable: true
Config::visual_localization_config_ip: 0.0.0.0
Config::visual_localization_config_port: 0
Config::solver_iteration_limit: 30
Config::solver_time_limit: 1.00000e+06

THREADING DISABLE
`
How can I run it successfully? Thanks!

支持Android平台吗,如果现在没有,以后有支持计划吗,谢谢.

hi,
Trying to porting this project to android device, met initializing always failed, is there any special configuration should be done? Any potential reasons will cause initializing fail?
Thanks

firstly, thanks for this great work!
recently, i read imu initialized codes, i find some questions
likes here, take an example

A.block<3, 3>(i * 6, 0) =  -0.5 * delta.t * delta.t * matrix<3>::Identity();

i think it should be

A.block<3, 3>(i * 6, 0) += -0.5 * delta.t * delta.t * matrix<3>::Identity();

do i miss some parts?

Could you please provide the data recorder for iphone Recently, I want to test on some phones of android and iphone, and the external parameter calibration adopts the Kalibr method suggested by you.
There are several open source projects that find loggers for android phones:
https://github.com/DavidGillsjo/VideoIMUCapture-Android
And the iphone's recorder:
https://github.com/Varvrar/ios_logger

At present, there is no test for the above two methods, so I would like to ask if you have a special data collector and can you provide it?
Thank you very muchand android cameras and IMU external parameter calibration

when I run xrslam algorithm using https://github.com/zju3dv/LSFB dataset，the trajectory drift is very serious.
I think it's mainly related to imu parameters，how should I adjust the parameters in configs.
below is the parameters I use now, refer to the calibration parameters provided by the dataset author.

imu:
gyroscope_noise_density: 0.01 # [ rad / s / sqrt(Hz) ]
gyroscope_random_walk: 4.0e-05 # [ rad / s^2 / sqrt(Hz) ]
accelerometer_noise_density: 0.1 # [ m / s^2 / sqrt(Hz) ]
accelerometer_random_walk: 0.001 # [ m / s^3 / sqrt(Hz) ]
accelerometer_bias: [0.0, 0.0, 0.0] # acc bias prior
gyroscope_bias: [0.0, 0.0, 0.0] # gyro bias prior
extrinsic:
q_bi: [ 0.0, 0.0, 0.0, 1.0 ] # x y z w
p_bi: [ 0.0, 0.0, 0.0 ] # x y z [m]
noise:
cov_g: [
1.0e-4, 0.0, 0.0,
0.0, 1.0e-04, 0.0,
0.0, 0.0, 1.0e-04]
cov_a: [
1.0e-02, 0.0, 0.0,
0.0, 1.0e-02, 0.0,
0.0, 0.0, 1.0e-02]
cov_bg: [
1.6e-09, 0.0, 0.0,
0.0, 1.6e-09, 0.0,
0.0, 0.0, 1.6e-09]
cov_ba: [
1.0e-06, 0.0, 0.0,
0.0, 1.0e-06, 0.0,
0.0, 0.0, 1.0e-06]

cam0:
T_BS:
cols: 4
rows: 4
data: [8.46506888e-04, -9.99991260e-01, 4.09432961e-03, -0.029662108648194,
-9.99941627e-01, -8.02348468e-04, 1.07749069e-02, 0.011143028268905,
-1.07715276e-02, -4.10321164e-03, -9.99933567e-01, -0.040172455026093,
0.0, 0.0, 0.0, 1.0]
resolution: [640, 480] # resolution of camera
camera_model: pinhole # camera model
distortion_model: radtan # distortion model
intrinsics: [482.7586673503097, 483.47632911991485, 314.6192613895542, 242.05073350615314] # fu, fv, cu, cv
camera_distortion_flag: 1 # use distortion model or not
distortion: [0.06279855179475724, -0.09438935292666413, -0.0009430695847365444, -0.0026745910116436067] # k1, k2, p1, p2, xi
camera_readout_time: 0.015465744080604192 # camera readout time
time_offset: 0.0 # camera time delay wrt. IMU
extrinsic:
q_bc: [ 0.707386461220603, -0.706803493087095, -0.002359812629834, -0.005258129517616 ] # x y z w
p_bc: [ -0.029662108648194, 0.011143028268905, -0.040172455026093 ] # x y z [m]
noise: [
0.5, 0.0,
0.0, 0.5] # [pixel^2]

Hi!
How to run xrslam on PC with a RealSense camera?
Thanks!

Can I turn off the IMU and only use image data to run?

My mac is 14.3 with m2 chip.
When i run the binary, the output comes to:

xxxxxxxxxx

-----------------Create XRSLAM v0.1.0 successfully-----------
create SLAM success: 1
create visualizer thread ...
2024-03-03 21:27:00.335 xrslam-pc-player[60096:9723475] *** Assertion failure in -[NSMenu _setMenuName:], NSMenu.m:772
2024-03-03 21:27:00.336 xrslam-pc-player[60096:9723475] *** Assertion failure in -[NSMenu _setMenuName:], NSMenu.m:772

no gui but only a terminal icon is shown.

I do not compile pybind11 in xrprimer, but it seems not to be this problem.
How can i solve this problem? Thanks!

同上

您好，这是一个非常棒的项目，有关imu有个问题请教一下sigma_u: 0.5，sigma_w: 4.e-8，sigma_a: 4.e-6，sigma_bg: 1.0e-10，sigma_ba: 1.0e-8，他们的IMU是多少HZ下标定得到的呢，是100HZ吗

according to ceres-solver/ceres-solver#669
when building XRPrimer in Unbuntu 22.04, I got an error:

CMake Error at cmake/FindTBB.cmake:434 (file):
  file STRINGS file "/usr/local/include/tbb/tbb_stddef.h" cannot be read.
Call Stack (most recent call first):

Before XRPrimer gets an update, you need to:

1. build xrprimer first to get the same error (in order to download some dependences)
2. comment Line 40 in cmake/external/ceres.cmake
3. change Line 435 in _ext/ceres-solver/cmake/FindTBB.cmake to "${TBB_INCLUDE_DIR}/oneapi/tbb/version.h"

when slam started and place a model, the tracking seems good. Then try move phone from side to side several times, the object becoming smaller and smaller until disappear.

Hi

`void Initializer::mirror_keyframe_map(Map *feature_tracking_map,
size_t init_frame_id) {
size_t init_frame_index_last =
feature_tracking_map->frame_index_by_id(init_frame_id);
size_t init_frame_index_gap = config->initializer_keyframe_gap();
size_t init_frame_index_distance =
init_frame_index_gap * (config->initializer_keyframe_num() - 1);

...
}`

in the Initializer.cpp, in some cases above code the value init_frame_index_last could be nil(), it's size_t(-1), the value is not handle, that could cause out of bound