rubengooj / pl-svo Goto Github PK

Hi,your PL-SVO looks nice and I want to test it on EuRoC_MAV/V1_01_easy, but the tracking just lost in the several beginning images. I have modified the dataset_params.yaml using the camera intrinsic parameters of EuRoC_MAV/V1_01_easy.
Do I miss anything or could you share your config file when testing on some datasets? such as a file called dataset_params_EuRoC_V1_01_easy.yaml or dataset_params_ICL_NUIM_seq_02.yaml.
Btw, in sceneRepresentation.cpp, some files like aux/legend.png, aux/legend_comp.png are loaded but no such files in this repo, could you add them?
Thanks!

Excuse me, I run this code with tum dataset several times and got quiet different results each time ! so how you evaluate the improvment compared with origin svo??

After successful compilation. When I run ./run_pipleline image1 I always get this error.

(MRPT:3473): Gtk-ERROR **: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
Trace/breakpoint trap (core dumped)

Anyone could fix that error?

Thank you very much for sharing the code. How is your track performance? After I run it, I feel a lot different from the real track.

When I compile this project with the mrpt2.0 from github "https://github.com/MRPT/mrpt"
The following errors occurs:
By not providing "Findmrpt-base.cmake" in CMAKE_MODULE_PATH this project
has asked CMake to find a package configuration file provided by
"mrpt-base", but CMake did not find one.

Could not find a package configuration file provided by "mrpt-base" with
any of the following names:

mrpt-baseConfig.cmake
mrpt-base-config.cmake

Add the installation prefix of "mrpt-base" to CMAKE_PREFIX_PATH or set
"mrpt-base_DIR" to a directory containing one of the above files. If
"mrpt-base" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
/usr/local/share/mrpt/mrpt-config.cmake:26 (find_dependency)
CMakeLists.txt:47 (FIND_PACKAGE)
I cann't solve it. Anyone know how to fix it?
Thank you very much!

Can you tell me how to get the trajectory information?

Building 3rdparty/line_descriptor ...
-- Configuring done
-- Generating done
-- Build files have been written to: /home/crazy/rosbuild_ws/package_dir/src/pl-svo/3rdparty/line_descriptor/build
[100%] Built target linedesc
Building PL-SVO ...
-- Eigen found (include: /usr/include/eigen3)
-- Boost version: 1.54.0
-- Found the following Boost libraries:
-- thread
-- system
-- filesystem
-- Configuring done
-- Generating done
-- Build files have been written to: /home/crazy/rosbuild_ws/package_dir/src/pl-svo/build
[ 5%] Building CXX object CMakeFiles/plsvo.dir/src/sceneRepresentation.cpp.o
In file included from /home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:28:0:
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/include/plsvo/sceneRepresentation.h:119:5: error: ‘CVectorDouble’ does not name a type
CVectorDouble v_aux, v_aux_, v_aux1, v_aux1_, v_auxgt, gt_aux_, v_auxgt_;
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp: In member function ‘void sceneRepresentation::initializeScene(Eigen::Matrix<double, 4, 4>)’:
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:128:22: error: ‘v_aux’ was not declared in this scope
pose.getAsVector(v_aux);
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:129:23: error: ‘v_aux1’ was not declared in this scope
pose1.getAsVector(v_aux1);
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:130:25: error: ‘v_auxgt’ was not declared in this scope
pose_gt.getAsVector(v_auxgt);
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp: In member function ‘bool sceneRepresentation::updateScene()’:
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:264:5: error: ‘v_aux_’ was not declared in this scope
v_aux_ = v_aux;
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:264:14: error: ‘v_aux’ was not declared in this scope
v_aux_ = v_aux;
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:285:9: error: ‘v_auxgt_’ was not declared in this scope
v_auxgt_ = v_auxgt;
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:285:20: error: ‘v_auxgt’ was not declared in this scope
v_auxgt_ = v_auxgt;
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:313:9: error: ‘v_aux1_’ was not declared in this scope
v_aux1_ = v_aux1;
^
/home/crazy/rosbuild_ws/package_dir/src/pl-svo/src/sceneRepresentation.cpp:313:19: error: ‘v_aux1’ was not declared in this scope
v_aux1_ = v_aux1;
^
make[2]: *** [CMakeFiles/plsvo.dir/src/sceneRepresentation.cpp.o] 错误 1
make[1]: *** [CMakeFiles/plsvo.dir/all] 错误 2
make: *** [all] 错误 2

Is there anyone else that met this error?

commad:
../bin/run_pipeline ../config/dataset_params.yaml

I get the following error:
FATAL: Signal SIGSEGV caught!

gdb does not provide any information:
Program received signal SIGSEGV, Segmentation fault.
0x000000000040f862 in main ()

I have not idea where the issue might be. I compiled Sophus, Vitik, SVO and pl-svo in that order.

Thanks,
Luis Puig

Can you show the video of final performance ? Thanks !