slamcabbage / optimized-sc-f-loam Goto Github PK

Hi,
terminate called after throwing an instance of 'pcl::IOException'
what(): : [pcl::PCDWriter::writeBinary] Error during open!
你遇到过这样的问题嘛

1、检测到闭环以后，为什么代码中使用闭环帧和闭环帧的地图匹配，而不是采用当前帧和闭环帧地图匹配，代码如下：
// loopFindNearKeyframesCloud_edge(cureKeyframeCloud_edge, 0, _curr_kf_idx);
loopFindNearKeyframesCloud_edge(cureKeyframeCloud_edge, 0, _loop_kf_idx);
loopFindNearKeyframesCloud_edge(laserCloudCornerMap, submap_size, _loop_kf_idx);
// loopFindNearKeyframesCloud_surf(cureKeyframeCloud_surf, 0, _curr_kf_idx);
loopFindNearKeyframesCloud_surf(cureKeyframeCloud_surf, 0, _loop_kf_idx);
loopFindNearKeyframesCloud_surf(laserCloudSurfMap, submap_size, _loop_kf_idx);
2、当前帧和闭环帧在map下匹配的结果，理论上应该是当前帧的位姿变化量，为什么代码中理解的是当前帧和闭环帧之间的位姿变换量？

The loop closure function is not working when testing on the KITTI dataset using the default parameters. The f-loam is working fine. What should I do? Thanks.

Thank you for your great work! which evaluation tool do you use? can you provide with me? thank you!

Thank you so much for this excellent work. I have installed following the instructions.

Ubuntu 20.04 and ROS Noetic
Installed latest version of Ceres 2.1.0

I get these compilation issues. Could you please help in solving these issues ?

/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/lidarOptimization.cpp:5:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/lidarOptimization.cpp:5:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/lidarOptimization.cpp:5:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
make[2]: *** [Optimized-SC-F-LOAM/optimized-sc-f-loam/CMakeFiles/sc_floam_laserLO.dir/build.make:104: Optimized-SC-F-LOAM/optimized-sc-f-loam/CMakeFiles/sc_floam_laserLO.dir/src/lidarOptimization.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [Optimized-SC-F-LOAM/optimized-sc-f-loam-16/CMakeFiles/sc_floam_laserLO_16.dir/build.make:104: Optimized-SC-F-LOAM/optimized-sc-f-loam-16/CMakeFiles/sc_floam_laserLO_16.dir/src/lidarOptimization.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [Optimized-SC-F-LOAM/optimized-sc-f-loam/CMakeFiles/sc_floam_odom_estimation_node.dir/build.make:90: Optimized-SC-F-LOAM/optimized-sc-f-loam/CMakeFiles/sc_floam_odom_estimation_node.dir/src/lidarOptimization.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [Optimized-SC-F-LOAM/optimized-sc-f-loam-16/CMakeFiles/sc_floam_odom_estimation_node_16.dir/build.make:90: Optimized-SC-F-LOAM/optimized-sc-f-loam-16/CMakeFiles/sc_floam_odom_estimation_node_16.dir/src/lidarOptimization.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/odomEstimationClass.h:34,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/odomEstimationClass.cpp:5:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/odomEstimationClass.h:34,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/odomEstimationClass.cpp:5:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/odomEstimationClass.cpp: In member function ‘void OdomEstimationClass::updatePointsToMap(const Ptr&, const Ptr&)’:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/odomEstimationClass.cpp:70:83: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization*)’
70 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization());
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/odomEstimationClass.h:25,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/odomEstimationClass.cpp:5:
/usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
259 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/odomEstimationClass.cpp: In member function ‘void OdomEstimationClass::updatePointsToMap(const Ptr&, const Ptr&)’:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/odomEstimationClass.cpp:70:83: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization*)’
70 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization());
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/odomEstimationClass.h:25,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/odomEstimationClass.cpp:5:
/usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
259 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/odomEstimationClass.h:34,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/odomEstimationNode.cpp:27:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/odomEstimationClass.h:34,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/odomEstimationNode.cpp:27:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserMapping.cpp: In function ‘void process()’:
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserMapping.cpp:567:13: error: ‘LocalParameterization’ is not a member of ‘ceres’
567 | ceres::LocalParameterization q_parameterization =
| ^~~~~~~~~~~~~~~~~~~~~
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserMapping.cpp:567:36: error: ‘q_parameterization’ was not declared in this scope
567 | ceres::LocalParameterization q_parameterization =
| ^~~~~~~~~~~~~~~~~~
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserMapping.cpp:568:11: error: expected type-specifier
568 | new ceres::EigenQuaternionParameterization();
| ^~~~~
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserOdometry.cpp: In function ‘int main(int, char)’:
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserOdometry.cpp:285:28: error: ‘LocalParameterization’ is not a member of ‘ceres’
285 | ceres::LocalParameterization q_parameterization =
| ^~~~~~~~~~~~~~~~~~~~~
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserOdometry.cpp:285:51: error: ‘q_parameterization’ was not declared in this scope
285 | ceres::LocalParameterization q_parameterization =
| ^~~~~~~~~~~~~~~~~~
/home/sai/catkin_ws/src/SC-A-LOAM/src/laserOdometry.cpp:286:29: error: expected type-specifier
286 | new ceres::EigenQuaternionParameterization();
| ^~~~~
make[2]: *** [Optimized-SC-F-LOAM/optimized-sc-f-loam/CMakeFiles/sc_floam_odom_estimation_node.dir/build.make:76: Optimized-SC-F-LOAM/optimized-sc-f-loam/CMakeFiles/sc_floam_odom_estimation_node.dir/src/odomEstimationNode.cpp.o] Error 1
make[2]: *** [Optimized-SC-F-LOAM/optimized-sc-f-loam-16/CMakeFiles/sc_floam_odom_estimation_node_16.dir/build.make:76: Optimized-SC-F-LOAM/optimized-sc-f-loam-16/CMakeFiles/sc_floam_odom_estimation_node_16.dir/src/odomEstimationNode.cpp.o] Error 1
make[2]: *** [SC-A-LOAM/CMakeFiles/alaserOdometry.dir/build.make:76: SC-A-LOAM/CMakeFiles/alaserOdometry.dir/src/laserOdometry.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2720: SC-A-LOAM/CMakeFiles/alaserOdometry.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/laserLoopOptimizationClass.h:65,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/laserLoopOptimizationClass.cpp:5:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/laserLoopOptimizationClass.h:65,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/laserLoopOptimizationNode.cpp:33:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/laserLoopOptimizationClass.h:65,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/laserLoopOptimizationNode.cpp:32:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/laserLoopOptimizationNode.cpp: In function ‘void process_viz_map()’:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/laserLoopOptimizationNode.cpp:352:14: error: ‘class pcl::PassThroughpcl::PointXYZI’ has no member named ‘setFilterLimitsNegative’; did you mean ‘getFilterLimitsNegative’?
352 | pass.setFilterLimitsNegative(false);
| ^~~~~~~~~~~~~~~~~~~~~~~
| getFilterLimitsNegative
In file included from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/laserLoopOptimizationClass.h:65,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/laserLoopOptimizationClass.cpp:5:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/lidarOptimization.h:39:69: error: expected class-name before ‘{’ token
39 | class PoseSE3Parameterization : public ceres::LocalParameterization {
| ^
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/laserLoopOptimizationClass.cpp: In member function ‘void laserLoopOptimizationClass::doCeres(const Ptr&, const Ptr&, gtsam::Pose3&)’:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/laserLoopOptimizationClass.cpp:483:79: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization)’
483 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization());
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/include/laserLoopOptimizationClass.h:45,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam-16/src/laserLoopOptimizationClass.cpp:5:
/usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double, int)’
259 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/laserLoopOptimizationClass.cpp: In member function ‘void laserLoopOptimizationClass::doCeres(const Ptr&, const Ptr&, gtsam::Pose3&)’:
/home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/laserLoopOptimizationClass.cpp:484:79: error: no matching function for call to ‘ceres::Problem::AddParameterBlock(double [7], int, PoseSE3Parameterization*)’
484 | problem.AddParameterBlock(parameters, 7, new PoseSE3Parameterization());
| ^
In file included from /usr/local/include/ceres/ceres.h:64,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/include/laserLoopOptimizationClass.h:45,
from /home/sai/catkin_ws/src/Optimized-SC-F-LOAM/optimized-sc-f-loam/src/laserLoopOptimizationClass.cpp:5:
/usr/local/include/ceres/problem.h:259:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int)’
259 | void AddParameterBlock(double* values, int size);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:259:8: note: candidate expects 2 arguments, 3 provided
/usr/local/include/ceres/problem.h:271:8: note: candidate: ‘void ceres::Problem::AddParameterBlock(double*, int, ceres::Manifold*)’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ^~~~~~~~~~~~~~~~~
/usr/local/include/ceres/problem.h:271:62: note: no known conversion for argument 3 from ‘PoseSE3Parameterization*’ to ‘ceres::Manifold*’
271 | void AddParameterBlock(double* values, int size, Manifold* manifold);
| ~~~~~~~~~~^~~~~~~~

同学，您好！我是想来请教一些问题，就是关于NDD-点云描述子这篇论文，因为当时看到您和原作者有交流，想问一下，您有没有遇到这这样的问题，就是运行了作者的源码，发现生成的二维描述子（经过makeNDD函数），存在-nan(ind)这样的非数据类型，这导致后面无法比较描述子之间的相似度。还是说需要一些额外处理。