stereolabs / zed-aruco Goto Github PK

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

getting error when trying to build aruco marker multi camera project

Steps to Reproduce

follow instruction for multicamera aruco marker and run make in build directory

Expected Result

running the aruco marker executable file

Actual Result

no file generated because of build error in make
usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::mouseMotionCallback(int, int)': GLViewer.cpp:(.text+0x34): undefined reference to glutPostRedisplay'
/usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::keyPressedCallback(unsigned char, int, int)': GLViewer.cpp:(.text+0x4c): undefined reference to glutPostRedisplay'
/usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::exit()': GLViewer.cpp:(.text+0x854): undefined reference to glutLeaveMainLoop'
/usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::idle()': GLViewer.cpp:(.text+0xca8): undefined reference to glutPostRedisplay'
/usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::update()': GLViewer.cpp:(.text+0x3100): undefined reference to glutLeaveMainLoop'
/usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::drawCallback()': GLViewer.cpp:(.text+0x3824): undefined reference to glutSwapBuffers'
/usr/bin/ld: GLViewer.cpp:(.text+0x3830): undefined reference to glutPostRedisplay' /usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::render()':
GLViewer.cpp:(.text+0x38a0): undefined reference to glutSwapBuffers' /usr/bin/ld: GLViewer.cpp:(.text+0x38ac): undefined reference to glutPostRedisplay'
/usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/GLViewer.o: in function GLViewer::init(int, int, int)': GLViewer.cpp:(.text+0x3df4): undefined reference to glutInit'
/usr/bin/ld: GLViewer.cpp:(.text+0x3dfc): undefined reference to glutInitWindowSize' /usr/bin/ld: GLViewer.cpp:(.text+0x3e04): undefined reference to glutInitDisplayMode'
/usr/bin/ld: GLViewer.cpp:(.text+0x3e10): undefined reference to glutCreateWindow' /usr/bin/ld: GLViewer.cpp:(.text+0x4aa0): undefined reference to glutSetOption'
/usr/bin/ld: GLViewer.cpp:(.text+0x4aac): undefined reference to glutDisplayFunc' /usr/bin/ld: GLViewer.cpp:(.text+0x4ab8): undefined reference to glutMouseFunc'
/usr/bin/ld: GLViewer.cpp:(.text+0x4ac4): undefined reference to glutMotionFunc' /usr/bin/ld: GLViewer.cpp:(.text+0x4ad0): undefined reference to glutReshapeFunc'
/usr/bin/ld: GLViewer.cpp:(.text+0x4adc): undefined reference to glutKeyboardFunc' /usr/bin/ld: GLViewer.cpp:(.text+0x4ae8): undefined reference to glutKeyboardUpFunc'
/usr/bin/ld: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/src/main.o: in function main': main.cpp:(.text.startup+0xd90): undefined reference to glutCloseFunc'
/usr/bin/ld: main.cpp:(.text.startup+0xd94): undefined reference to `glutMainLoop'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/ZED_Multi_Reloc_Aruco.dir/build.make:152: ZED_Multi_Reloc_Aruco] Error 1
make[1]: *** [CMakeFiles/Makefile2:83: CMakeFiles/ZED_Multi_Reloc_Aruco.dir/all] Error 2
make: *** [Makefile:91: all] Error 2

ZED Camera model

ZED Mini

Environment

ZED SDK 4.0.5
Jetson AGX Orin
Ubuntu 20.04
jetpack 5.1.1
ZED X cameras

Anything else?

No response

Preliminary Checks

• This issue is not a duplicate. Before opening a new issue, please search existing issues.
• This issue is not a question, feature request, or anything other than a bug report directly related to this project.

Description

After I've completed cmake .. , there are errors during make including Dictionary conflict, redefinition of class, and default arguments. I've attached screenshot for further understanding. Could you help me how to solve it? Thanks.

Steps to Reproduce

1. Download folder from https://github.com/stereolabs/zed-aruco/ and select mono.
2. make build directory and finish cmake..
3. Execute make

Expected Result

Package installation finished

Actual Result

ZED Camera model

ZED2

Environment

OS: Ubuntu 20.04
GPU: Nvidia GTX 950m
ZED SDK version: 3.7.7
ROS Noetic

Anything else?

No response

Hi, I'm finding the accuracy of the 3D marker reprojection (multi-camera) on the point cloud a bit weak. The marker is 56cm in length and placed at circa 3m distance from both the ZED cameras, which lines of sight form a 90 degrees angle (their lines of sight are not parallel). More in details, the 3D pose of the marker seems correct, but the two point clouds are not being aligned correctly. It's like they are being shifted because they expect a marker of different dimensions.

Speaking about this ame issue, and referring to the docs, the default marker size should be 16cm:

The sample is expecting a 6x6 Aruco Dictionary with a 160mm marker by default. The bigger the marker, the better the camera position will be. It's important to make sure that the real-world size of the marker matches the size set in the samples (160mm) to avoid scale issues in the tracking.

While in the code it shows 15cm:
acuroData.marker_length = 0.15f; // Size real size of the maker in meter

Is there a reason for that?
Sorry for the long post, if useful I can also provide an image of the misalignment. Thank you