gaoxiang12/orbslam2_with_pointcloud_map

orbslam2_with_pointcloud_map's Issues

There are some missing in cmakelists file for ros.

When I execute the build_ros.sh,there will be some error message.
Because it also need pcl,so we should also add pcl to camkelists.txt.

Errors when compiled modified g2o

I have no idea how to fix this compile error, any suggestions guys?

fjl@fjl-Inspiron-7460:~/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/build$ make -j8
[ 0%] Building CXX object g2o/examples/interactive_slam/slam_parser/parser/CMakeFiles/parser_library.dir/flex_scanner.cpp.o
[ 1%] Building CXX object g2o/examples/interactive_slam/slam_parser/parser/CMakeFiles/parser_library.dir/slam_context.cpp.o
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[ 2%] Building CXX object g2o/examples/interactive_slam/slam_parser/parser/CMakeFiles/parser_library.dir/bison_parser.cpp.o
[ 2%] Building CXX object EXTERNAL/freeglut/CMakeFiles/freeglut_minimal.dir/freeglut_font.cpp.o
[ 3%] Building CXX object g2o/solvers/csparse/CMakeFiles/csparse_extension.dir/csparse_helper.cpp.o
[ 3%] Building CXX object g2o/stuff/CMakeFiles/opengl_helper.dir/opengl_primitives.cpp.o
[ 4%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/timeutil.cpp.o
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[ 5%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/command_args.cpp.o
[ 5%] Linking CXX shared library ../../../lib/libg2o_opengl_helper.so
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[ 6%] Building C object g2o/stuff/CMakeFiles/stuff.dir/os_specific.c.o
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[ 6%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/filesys_tools.cpp.o
[ 7%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/string_tools.cpp.o
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[ 7%] Built target csparse_extension
[ 7%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/property.cpp.o
[ 7%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/sampler.cpp.o
[ 7%] Linking CXX shared library ../../../../../../lib/libg2o_parser.so
[ 7%] Linking CXX shared library ../../../lib/libg2o_ext_freeglut_minimal.so
[ 7%] Built target parser_library
[ 7%] Building CXX object g2o/examples/interactive_slam/slam_parser/interface/CMakeFiles/interface_library.dir/parser_interface.cpp.o
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[ 7%] Building CXX object g2o/examples/interactive_slam/slam_parser/interface/CMakeFiles/interface_library.dir/slam_context_interface.cpp.o
[ 8%] Building CXX object g2o/stuff/CMakeFiles/stuff.dir/tictoc.cpp.o
[ 9%] Linking CXX shared library ../../../../../../lib/libg2o_interface.so
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[ 9%] Built target stuff
[ 10%] Building CXX object g2o/core/CMakeFiles/core.dir/hyper_graph_action.cpp.o
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[ 12%] Building CXX object g2o/core/CMakeFiles/core.dir/optimizable_graph.cpp.o
[ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/solver.cpp.o
[ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/optimization_algorithm_factory.cpp.o
[ 13%] Building CXX object g2o/core/CMakeFiles/core.dir/estimate_propagator.cpp.o
[ 14%] Building CXX object g2o/core/CMakeFiles/core.dir/factory.cpp.o
[ 14%] Building CXX object g2o/core/CMakeFiles/core.dir/sparse_optimizer.cpp.o
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[ 19%] Linking CXX shared library ../../../lib/libg2o_core.so
[ 19%] Built target core
[ 19%] Building CXX object g2o/solvers/structure_only/CMakeFiles/solver_structure_only.dir/structure_only.cpp.o
[ 19%] Building CXX object g2o/apps/g2o_cli/CMakeFiles/g2o_cli_library.dir/dl_wrapper.cpp.o
[ 19%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_labeler.cpp.o
[ 19%] Building CXX object g2o/solvers/dense/CMakeFiles/solver_dense.dir/solver_dense.cpp.o
[ 20%] Building CXX object g2o/solvers/pcg/CMakeFiles/solver_pcg.dir/solver_pcg.cpp.o
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[ 21%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2.cpp.o
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[ 23%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_calib.cpp.o
[ 23%] Linking CXX shared library ../../../../lib/libg2o_cli.so
[ 23%] Built target g2o_cli_library
[ 24%] Building CXX object g2o/solvers/cholmod/CMakeFiles/solver_cholmod.dir/solver_cholmod.cpp.o
[ 25%] Linking CXX shared library ../../../../lib/libg2o_solver_structure_only.so
[ 25%] Built target solver_structure_only
[ 25%] Building CXX object g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o
[ 26%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_creator.cpp.o
[ 26%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_se3.cpp.o
[ 26%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/star.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /usr/include/eigen3/Eigen/SparseCore:11,
from /usr/include/eigen3/Eigen/Sparse:26,
from /home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:30,
from /home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/solvers/eigen/solver_eigen.cpp:17:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op]’:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type = void*]’
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17: required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:66:18: required from ‘void g2o::LinearSolverEigen::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>; g2o::LinearSolverEigen::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:193:9: required from ‘void g2o::LinearSolverEigen::computeSymbolicDecomposition(const g2o::SparseBlockMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>]’
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:98:37: required from ‘bool g2o::LinearSolverEigen::solve(const g2o::SparseBlockMatrix&, double*, double*) [with MatrixType = Eigen::Matrix<double, -1, -1>]’
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/solvers/eigen/solver_eigen.cpp:111:1: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:707:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT((internal::functor_is_product_like::ret
^
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: note: in expansion of macro ‘EIGEN_CHECK_BINARY_COMPATIBILIY’
EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
^
[ 26%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/types_slam2d.cpp.o
g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build.make:62: recipe for target 'g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o' failed
make[2]: *** [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o] Error 1
CMakeFiles/Makefile2:2058: recipe for target 'g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all' failed
make[1]: *** [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 27%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_point_xy.cpp.o
[ 27%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/edge_types_cost_function.cpp.o
[ 28%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/backbone_tree_action.cpp.o
[ 28%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/simple_star_ops.cpp.o
[ 28%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy.cpp.o
[ 28%] Building CXX object g2o/apps/g2o_hierarchical/CMakeFiles/g2o_hierarchical_library.dir/g2o_hierarchical_test_functions.cpp.o
[ 29%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_se3_offset.cpp.o
[ 30%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/vertex_se2.cpp.o
[ 30%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o
[ 30%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3.cpp.o
[ 31%] Linking CXX shared library ../../../../lib/libg2o_solver_csparse.so
[ 31%] Built target solver_csparse
[ 31%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_offset.cpp.o
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp: In member function ‘virtual void g2o::EdgeSE2PointXYBearing::initialEstimate(const VertexSet&, g2o::OptimizableGraph::Vertex*)’:
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:51:52: error: no matching function for call to ‘g2o::SE2::setRotation(Eigen::Rotation2D::Scalar)’
t.setRotation(t.rotation().angle()+measurement);
^
In file included from /home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:33:0,
from /home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.h:31,
from /home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:27:
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/se2.h:59:12: note: candidate: void g2o::SE2::setRotation(const Rotation2Dd&)
void setRotation(const Eigen::Rotation2Dd& R) {R=R;}
^
/home/fjl/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/se2.h:59:12: note: no known conversion for argument 1 from ‘Eigen::Rotation2D::Scalar {aka double}’ to ‘const Rotation2Dd& {aka const Eigen::Rotation2D&}’
[ 32%] Linking CXX shared library ../../../../lib/libg2o_hierarchical.so
[ 32%] Built target g2o_hierarchical_library
[ 33%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/vertex_pointxyz.cpp.o
[ 34%] Linking CXX shared library ../../../../lib/libg2o_solver_dense.so
[ 34%] Built target solver_dense
[ 34%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_camera.cpp.o
g2o/types/slam2d/CMakeFiles/types_slam2d.dir/build.make:206: recipe for target 'g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o' failed
make[2]: *** [g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_pointxy_bearing.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 34%] Building CXX object g2o/types/slam2d/CMakeFiles/types_slam2d.dir/edge_se2_prior.cpp.o
[ 34%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/parameter_stereo_camera.cpp.o
[ 34%] Linking CXX shared library ../../../../lib/libg2o_solver_pcg.so
[ 34%] Built target solver_pcg
[ 35%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz.cpp.o
[ 35%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_disparity.cpp.o
[ 35%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_pointxyz_depth.cpp.o
CMakeFiles/Makefile2:1010: recipe for target 'g2o/types/slam2d/CMakeFiles/types_slam2d.dir/all' failed
make[1]: *** [g2o/types/slam2d/CMakeFiles/types_slam2d.dir/all] Error 2
[ 36%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_prior.cpp.o
[ 36%] Linking CXX shared library ../../../../lib/libg2o_solver_cholmod.so
[ 36%] Built target solver_cholmod
[ 36%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_se3_lotsofxyz.cpp.o
[ 36%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/edge_pointxyz.cpp.o
[ 37%] Building CXX object g2o/types/slam3d/CMakeFiles/types_slam3d.dir/types_slam3d.cpp.o
[ 37%] Linking CXX shared library ../../../../lib/libg2o_types_slam3d.so
[ 37%] Built target types_slam3d
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

ORBSLAM2 build error

Hi all,

I successfully built the g20_with_orbslam2.
and then I tried to built ORB_SLAM2_modified but I got the following errors?

So, what should I do?

[ 4%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/System.cc.o
In file included from /home/mehmet/orbslam2_modified/ORB_SLAM2_modified/include/LocalMapping.h:26:0,
from /home/mehmet/orbslam2_modified/ORB_SLAM2_modified/include/Tracking.h:31,
from /home/mehmet/orbslam2_modified/ORB_SLAM2_modified/include/System.h:29,
from /home/mehmet/orbslam2_modified/ORB_SLAM2_modified/src/System.cc:23:
/home/mehmet/orbslam2_modified/ORB_SLAM2_modified/include/LoopClosing.h:34:51: fatal error: g2o/types/sim3/types_seven_dof_expmap.h: No such file or directory
#include <g2o/types/sim3/types_seven_dof_expmap.h>
^
compilation terminated.
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1
make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2
make: *** [all] Error 2

Monocular SLAM

How do I get the point cloud using RGB sequence of images?

Point cloud for stereo node

As of now the point cloud module is for the RGB-D node right?
Is it possible to collaborate the point clod viewer with stereo node as well?

已解决

How to run this code with RGBD dataset

Like title ,how to run this code with RGBD dataset?
this is my command:
$ ./bin/mono_tum Examples/Monocular/TUM1.yaml rgbd_dataset_freiburg1_desk

and then he said:
./bin/mono_tum: error while loading shared libraries: libopencv_core3.so.3.1: cannot open shared object file: No such file or directory

ERROR Building g2o_modified

I have some problems at 36% with the building of edge.se2.h or similar, but when i try to build the original g20 there isn't any problem!! So For thgis reason i think there is not any problem with the dependencies. Any Idea to solve this problem. Thanks

Maybe code error in function generatePointCloud()

in function generatePointCloud()
it should be
// point cloud is null ptr
for ( int m=0; m<depth.rows; m++ )
{
for ( int n=0; n<depth.cols; n++ )
{
according to gaoxiang's blog
https://www.cnblogs.com/gaoxiang12/p/4659805.html

What is the difference between your g2o and the original g2o?

Hello! I just downloaded your code and successfully make g2o bag and ORB_SLAM bag. But when I run the node, the program broke down. Then I made some attempts and found that when I use the original version of g2o the program won't break down, and when I use your g2o it will break down on my computer. After that when I use ORB_SLAM with the original g2o on a turtlebot in gazebo, everything goes well but there is no dense point cloud. I can see the "viewer" window and there is nothing in it nut a triangle claw. I upload the screenshot in this question. Can you please tell me any idea how can I fix this bug? Thank you very much!

点云图没有实时绘制，viewer界面只显示一个坐标系，我是UBuntu16.04,默认安装PCL1.7

double free or corruption (out)

when i run dataset, i had met this problem, anyone can solve it????THX!!!

如何获取Monocular数据集的点云？

您好！RGB-D实例时需要把每一张RGBD(depth)图像和RGB图像建立关联。
但是如果是Monocular数据集，没有depth图像，我该如何获取实时点云数据呢？

编译成功后运行出现 Segmentation fault (core dumped)

编译成功后出现Segmentation fault (core dumped)

调试后发现是pointcloudmapping.cc里第122行至125行导致出错

PointCloud::Ptr tmp(new PointCloud());
voxel.setInputCloud( globalMap );
voxel.filter( *tmp );
globalMap->swap( *tmp );

把这几行注释掉之后程序可运行，但是效果不太好，想问下为什么这几行会出现段错误？

Getting compile error related to g2o header not found.

I compile both the g20_with_orbslam2 and compiled the Thirdparty ...all compiled ok.
I also did a make install in its build dir with created a install dir in g20_with_orbslam2 .
I do not see any make file reference to this directory?

When I try to compile orbslam I get the following:

[ 64%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Optimizer.cc.o
[ 58%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Viewer.cc.o
[ 61%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/Frame.cc.o
In file included from /home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/src/Converter.cc:22:0:
/home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/Converter.h:27:48: fatal error: g2o/types/sba/types_six_dof_expmap.h: No such file or directory
compilation terminated.
CMakeFiles/ORB_SLAM2.dir/build.make:230: recipe for target 'CMakeFiles/ORB_SLAM2.dir/src/Converter.cc.o' failed
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/Converter.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/LocalMapping.h:26:0,
                 from /home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/Tracking.h:31,
                 from /home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/FrameDrawer.h:24,
                 from /home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/Viewer.h:25,
                 from /home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/src/Viewer.cc:21:
/home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/LoopClosing.h:34:51: fatal error: g2o/types/sim3/types_seven_dof_expmap.h: No such file or directory
compilation terminated.
In file included from /home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/src/KeyFrame.cc:22:0:
/home/rjn/catkin_rosmake_ws/new_and_abandoned/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/Converter.h:27:48: fatal error: g2o/types/sba/types_six_dof_expmap.h: No such file or directory
compilation terminated.

stop without saving the trajectory

I have built the ORB-SLAM2 and run the dataset successfully. But after running the dataset, the program just stops and the video turns grey like this screenshot. It doesn't save the "KeyFrameTrajectory.txt" as well. How can I solve this problem? Thanks!

error building g2o_with_orbslam2: ‘MatrixExponential’ is not a member of ‘Eigen’

I was building the g2o_with_orbslam2 fallow the install step.
meet error:

[ 78%] Linking CXX executable ../../../../bin/static_target
[ 78%] Built target static_target
Scanning dependencies of target constant_velocity_target
[ 78%] Building CXX object g2o/examples/target/CMakeFiles/constant_velocity_target.dir/constant_velocity_target.cpp.o
In file included from /home/he/SLAM2_with_pointcloud_map-master/g2o_with_orbslam2/g2o/examples/target/constant_velocity_target.cpp:18:0:
/home/he/SLAM2_with_pointcloud_map-master/g2o_with_orbslam2/g2o/examples/target/continuous_to_discrete.h: In function ‘void continuousToDiscrete(MatrixType&, MatrixType&, const MatrixType&, const MatrixType&, double)’:
/home/he/SLAM2_with_pointcloud_map-master/g2o_with_orbslam2/g2o/examples/target/continuous_to_discrete.h:29:3: error: ‘MatrixExponential’ is not a member of ‘Eigen’
Eigen::MatrixExponential me(bigA);
^
/home/he/SLAM2_with_pointcloud_map-master/g2o_with_orbslam2/g2o/examples/target/continuous_to_discrete.h:29:49: error: expected primary-expression before ‘>’ token
Eigen::MatrixExponential me(bigA);
^
/home/he/SLAM2_with_pointcloud_map-master/g2o_with_orbslam2/g2o/examples/target/continuous_to_discrete.h:30:3: error: ‘me’ was not declared in this scope
me.compute(bigB);
^
g2o/examples/target/CMakeFiles/constant_velocity_target.dir/build.make:62: recipe for target 'g2o/examples/target/CMakeFiles/constant_velocity_target.dir/constant_velocity_target.cpp.o' failed
make[2]: *** [g2o/examples/target/CMakeFiles/constant_velocity_target.dir/constant_velocity_target.cpp.o] Error 1
CMakeFiles/Makefile2:2268: recipe for target 'g2o/examples/target/CMakeFiles/constant_velocity_target.dir/all' failed
make[1]: *** [g2o/examples/target/CMakeFiles/constant_velocity_target.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

i installed eigen3 3.2.92, don't know how to fix this , thanks

bugs,many, as the description is too simple.Maybe, realize one by oneself is better way.

error with g2o at make around 84%

I meet "undefined reference"problem when
cd build
cmake ..
make
at around 84%.
The problem has been solved.
just add
include_directories(
"/home/finale/ORBSLAM2_with_pointcloud_map-master/g2o_with_orbslam2/"
"/home/finale/ORBSLAM2_with_pointcloud_map-master/g2o_with_orbslam2/build"
)
link_directories("/home/finale/ORBSLAM2_with_pointcloud_map-master/g2o_with_orbslam2/lib")
in your CMakeList

How can I save the pointcloud_map?

Hi, I'm really thankful for your great code!
I execute the code and get a Great Result 😄

In my case, I want to save the Point cloud map, so I want to fix some code.

By the way, Where can I fix it, and How to save the point cloud map?

If someone does this work, could you give me some tips?

Thanks.

PCL版本问题

PCL版本大于1.7就不支持了吗

已放弃 (核心已转储),i cant slove this,please help me!

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded in 9.30s

Camera Parameters:

• fx: 607.92
• fy: 607.917
• cx: 639.034
• cy: 366.633
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 30
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 3.28991
New map created with 687 points
receive a keyframe, id = 33 第1个
terminate called after throwing an instance of 'std::length_error'
what(): vector::_M_default_append
已放弃 (核心已转储)

error while making g2o_modified

/home/robot/Downloads/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/edge_se2_pointxy_bearing.cpp:51:52: error: no matching function for call to ‘g2o::SE2::setRotation(Eigen::Rotation2D::Scalar)’
t.setRotation(t.rotation().angle()+_measurement);
^
In file included from /home/robot/Downloads/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/g2o/types/slam2d/vertex_se2.h:33:0,

cannot find -lopencv_core3

when I run ./build_ros.h,I get errors as follows:
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:462: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:156: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:462: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:182: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
collect2: error: ld returned 1 exit status
CMakeFiles/MonoAR.dir/build.make:534: recipe for target '../MonoAR' failed
make[2]: *** [../MonoAR] Error 1
CMakeFiles/Makefile2:468: recipe for target 'CMakeFiles/MonoAR.dir/all' failed
make[1]: *** [CMakeFiles/MonoAR.dir/all] Error 2
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
/usr/bin/ld: 找不到 -lopencv_core3
/usr/bin/ld: 找不到 -lopencv_imgproc3
/usr/bin/ld: 找不到 -lopencv_highgui3
collect2: error: ld returned 1 exit status
CMakeFiles/Mono.dir/build.make:462: recipe for target '../Mono' failed
make[2]: *** [../Mono] Error 1
CMakeFiles/Makefile2:416: recipe for target 'CMakeFiles/Mono.dir/all' failed
make[1]: *** [CMakeFiles/Mono.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2

some errors with modified SLAM about DBoW2

when I make the SLAM modifed, I met some errors listed in below:
[ 74%] Linking CXX executable ../Examples/Monocular/mono_kitti
../lib/libORB_SLAM2.so：对‘DBoW2::FORB::fromString(cv::Mat&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用
../lib/libORB_SLAM2.so：对‘DBoW2::FORB::toString[abi:cxx11](cv::Mat const&)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/mono_kitti.dir/build.make:361: recipe for target '../Examples/Monocular/mono_kitti' failed
make[2]: *** [../Examples/Monocular/mono_kitti] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/mono_kitti.dir/all' failed
make[1]: *** [CMakeFiles/mono_kitti.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2

so,what should I do to solve it? thank you so much!

error: ‘ni’ was not declared in this scope

Has anyone met this problem? Thanks very much!

高博士，我编译您这个点云版的example下的ROS包时，出现@GLIBCXX_3.4.21’未定义的引用错误

报错具体如下：libboost_filesystem.so：对‘std::__cxx11::basic_string<char, std::char_traits, std::allocator >::_M_replace_aux(unsigned long, unsigned long, unsigned long, char)@GLIBCXX_3.4.21’未定义的引用；
libboost_filesystem.so：对‘std::__cxx11::basic_string<char, std::char_traits, std::allocator >::rfind(char, unsigned long) const@GLIBCXX_3.4.21’未定义的引用；
......
/libboost_filesystem.so：对‘std::__cxx11::basic_string<char, std::char_traits, std::allocator >::_M_create(unsigned long&, unsigned long)@GLIBCXX_3.4.21’未定义的引用;
我列出了其中几条，但是都是@GLIBCXX_3.4.21’未定义的引用这个错误，请问您能帮我解惑吗？提前谢谢您啦

Can I use it in RGBD_ROS?

I have complied the ros project,but when I roslaunch it , there occured Segment error.
I had added pcl to cmakelists, I can compile it ,but I can not run it .
Any solutions?Thanks

How to exclude parts of the point cloud

I'm a senior in college and I'm learning dynamic SLAM and trying to build dense point cloud maps. Now I want to exclude the dynamic point cloud, what should I do? Thanks in advance.

Error when I make the ORB_SLAM2_modified

Compile errors are as follows when it compiles to 84%

[ 80%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/pointcloudmapping.cc.o
Linking CXX shared library ../lib/libORB_SLAM2.so
[ 80%] Built target ORB_SLAM2
Scanning dependencies of target mono_kitti
[ 84%] Building CXX object CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o
Linking CXX executable ../Examples/Monocular/mono_kitti
/usr/bin/ld: warning: libopencv_core.so.3.3, needed by ../Thirdparty/DBoW2/lib/libDBoW2.so, may conflict with libopencv_core.so.2.4
/usr/bin/ld: CMakeFiles/mono_kitti.dir/Examples/Monocular/mono_kitti.cc.o: undefined reference to symbol '_ZN2cv6String10deallocateEv'
/usr/local/lib/libopencv_core.so.3.3: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
make[2]: *** [../Examples/Monocular/mono_kitti] 错误 1
make[1]: *** [CMakeFiles/mono_kitti.dir/all] 错误 2
make: *** [all] 错误 2
chenwei@Ubuntu14:~/project/ORBSLAM2_with_pointcloud_map-master/orbslam2_modified/ORB_SLAM2_modified/build$

The color of dense pointcloud map is black and white

Hello,Dr. Gao.My issue is as following.
After I build the ORB_SLAM2_modified,I execute the ./bin/rgbd_tum to run a dataset of TUM.However,the color of dense pointcloud map is black and white,without color information.
When I build the ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2,I execute the ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/RGBD,
to run the device of kinect2 real time.
Similarly,there is no color of the dense pointcloud map.
I need some help,thanks.

Serious problem in overlap part of one poind cloud

Hi, @gaoxiang12 . Thanks a lot for providing this useful tool.

I use orb slam2 with kinect v1 to reconstruction 3D point cloud. Here is one work result.

I got quite confused because there is a serious problem in overlapping part. I think calibration should not be the first reason. But I fail to think out other resolutions.

Any suggestions? Thx a lot in advance!

点云图没有实时绘制，viewer界面只显示一个坐标系

size of the global map is 0

When i run the ROS/RGBD, there is no output in the viewer and the size of global map is 0. But, when i run Examples/RGB-D, then i get point cloud in the viewer. Can anyone help me to solve the problem?

Eigen3.3 used in this project makes many bugs,so I choose eigen 3.2.x and it's worked

Eigen3.3 linked in this project makes many bugs,so I choose eigen 3.2.x and it's worked.
If you have the same issue,maybe change your eigen library version to eigen 3.2.x

libORB_SLAM2.so: undefined symbol: _ZN3g2o30OptimizationAlgorithmLevenbergC1EPNS_6SolverE

Compilation succeeded, but I met this issue when I run rgbd_tum. Following is the terminal information:

./Examples/RGB-D/rgbd_tum: symbol lookup error: /media/yxt/storage/SLAM_demo/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/lib/libORB_SLAM2.so: undefined symbol: _ZN3g2o30OptimizationAlgorithmLevenbergC1EPNS_6SolverE

And in my CMakeLists.txt I made a few changes

# find_package( G2O REQUIRED )
set( G2O_INCLUDE_DIRS "/media/yxt/storage/SLAM_demo/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/installed/include" )
set( G2O_LIBRARIES "/media/yxt/storage/SLAM_demo/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/installed/lib")

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
#------------newly added---------------------#
${G2O_INCLUDE_DIRS}
#------------newly added---------------------#
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${G2O_LIBRARIES}/libg2o_core.so ${G2O_LIBRARIES}/libg2o_types_slam3d.so 
${G2O_LIBRARIES}/libg2o_solver_csparse.so ${G2O_LIBRARIES}/libg2o_stuff.so 
${G2O_LIBRARIES}/libg2o_csparse_extension.so ${G2O_LIBRARIES}/libg2o_types_sim3.so 
${G2O_LIBRARIES}/libg2o_types_sba.so
${PCL_LIBRARIES}
)

I changed g2o_with_orbslam2 install path to /media/yxt/storage/SLAM_demo/ORBSLAM2_with_pointcloud_map/g2o_with_orbslam2/installed

So I think I had include the right directories and link right libraries. But I still had this issue.

Error about ORBSLAM2_with_pointcloud_map_ROS_RGBD

hello, when I made the ORBSLAM2_with_pointcloud_map_ROS_RGBD .
I met a error that is " No rule to make target 'opencv_calib3d-NOTFOUND’，needed by '../Mono" ".
I think opencv lead to this. But I link the ${OPENCV_LIBRARIES} to executable.
who can help me solve this problem? Thanks.

点云图没有色彩信息

make error in ORB_SLAM2_modified

there is an error in ORB_SLAM2_modified and I don't find the reason.
Can you help me about this error? Thank U.
/////////////////////////////////////////////////////////////////////////////////////////////////////
[ 4%] Building CXX object CMakeFiles/ORB_SLAM2.dir/src/System.cc.o
In file included from /home/aicrobo/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/LocalMapping.h:26:0,
from /home/aicrobo/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/Tracking.h:31,
from /home/aicrobo/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/System.h:29,
from /home/aicrobo/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/src/System.cc:23:
/home/aicrobo/ORBSLAM2_with_pointcloud_map/ORB_SLAM2_modified/include/LoopClosing.h:34:51: fatal error: g2o/types/sim3/types_seven_dof_expmap.h: No such file or directory
#include <g2o/types/sim3/types_seven_dof_expmap.h>
^
compilation terminated.
make[2]: *** [CMakeFiles/ORB_SLAM2.dir/src/System.cc.o] Error 1
make[1]: *** [CMakeFiles/ORB_SLAM2.dir/all] Error 2
make: *** [all] Error 2
/////////////////////////////////////////////////////////////////////////////////////////////////////////

Run examples

Hello!
May ask you a running examples? I have no idea about how to set the start_index and end_index?

finished all build，but when I try to run it with kinect,something wrong

I use this to run : roslaunch kinect_orbslam2.launch
kinect_orbslam2.launch

the problem is below:
[ INFO] [1503458066.057670478]: Initializing nodelet with 4 worker threads.
[ORB_SLAM2-1] process has died [pid 22621, exit code -11, cmd /home/robotleo/Ubuntu_exbot/ORBSLAM2_with_pointcloud_map-master/ORB_SLAM2_modified/Examples/ROS/ORB_SLAM2/RGBD /home/robotleo/Ubuntu_exbot/ORBSLAM2_with_pointcloud_map-master/ORB_SLAM2_modified/Vocabulary/ORBvoc.txt /home/robotleo/Ubuntu_exbot/ORBSLAM2_with_pointcloud_map-master/ORB_SLAM2_modified/Examples/RGB-D/TUM1.yaml __name:=ORB_SLAM2 __log:=/home/robotleo/.ros/log/e729ee82-87ad-11e7-a668-48d224c6eaeb/ORB_SLAM2-1.log].
log file: /home/robotleo/.ros/log/e729ee82-87ad-11e7-a668-48d224c6eaeb/ORB_SLAM2-1*.log

I try to solve it ,but did not work. please tell me how to solve it.

warning: libopencv_core.so.2.4

Has anyone encountered these issues? it looks like I have links to the wrong path, but I am not sure how to fix it :(

/usr/bin/ld: warning: libopencv_core.so.2.4, needed by ../Thirdparty/DBoW2/lib/libDBoW2.so, not found (try using -rpath or -rpath-link)
/usr/bin/ld: ../Thirdparty/DBoW2/lib/libDBoW2.so: undefined reference to cv::_OutputArray::_OutputArray(cv::Mat&)' /usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to DBoW2::FORB::fromString(cv::Mat&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)'
/usr/bin/ld: ../lib/libORB_SLAM2.so: undefined reference to `DBoW2::FORB::toString[abi:cxx11](cv::Mat const&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/rgbd_my.dir/build.make:245: ../Examples/RGB-D/rgbd_my] Error 1
make[1]: *** [CMakeFiles/Makefile2:82: CMakeFiles/rgbd_my.dir/all] Error 2
make: *** [Makefile:84: all] Error 2

libORB_SLAM.so error

I have install g2o_with_orbslam2, and don't use g2o in ROS(maybe,I delete ros's setup.bash in .bashrc),and make succeed in ORB_SLAM2_modified,but when I run example rgbd_tum,there are some error:
Lenovo-G510:~/slamstudy/orbslam2_modified/ORB_SLAM2_modified/Examples/RGB-D$ ./rgbd_tum ~/Vocabulary/ORBvoc.txt TUM1.yaml ~/slamstudy/rgbd_dataset_freiburg1_xyz associations/fr1_xyz.txt
./rgbd_tum: symbol lookup error: /home/haosu/slamstudy/orbslam2_modified/ORB_SLAM2_modified/lib/libORB_SLAM2.so: undefined symbol: _ZTVN3g2o25EdgeSE3ProjectXYZOnlyPoseE
And when I replace libORB_SLAM2.so with the same file in package zip, it works but my modification don't work.

在编译成功之后的运行当中出现段错误（核心已转储）不知道是哪方面出的问题，下面是运行的结果

[ 94%] Built target mono_euroc
[ 94%] Built target mono_tum
[ 94%] Built target rgbd_tum
[ 94%] Built target mono_kitti
[ 94%] Built target stereo_euroc
[ 97%] Linking CXX executable ../bin/stereo_kitti
[100%] Linking CXX executable ../bin/rgbd_my
[100%] Built target stereo_kitti
[100%] Built target rgbd_my
Converting vocabulary to binary
BoW load/save benchmark
Loading fom text: 8.56s
Saving as binary: 0.23s
stiles@stiles-CM6870:~/ORBSLAM2_with_pointcloud_map-master/ORB_SLAM2_modified$ ./bin/rgbd_tum Vocabulary/ORBvoc.bin /home/stiles/ORBSLAM2_with_pointcloud_map-master/ORB_SLAM2_modified/Examples/RGB-D/TUM1.yaml /home/stiles/ORBSLAM2_with_pointcloud_map-master/ORB_SLAM2_modified/rgbd_dataset_freiburg1_xyz /home/stiles/ORBSLAM2_with_pointcloud_map-master/ORB_SLAM2_modified/Examples/RGB-D/association.txt
段错误 (核心已转储)

problem with compiling g2o_with_orbslam2

[ 84%] Building CXX object g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o
In file included from /usr/include/eigen3/Eigen/Core:297:0,
from /usr/include/eigen3/Eigen/SparseCore:11,
from /usr/include/eigen3/Eigen/Sparse:26,
from /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:30,
from /home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/solver_eigen.cpp:17:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op]’:
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Func = Eigen::internal::assign_op; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing::value), void*>::type = void*]’
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<int, -1, 1>; Src = Eigen::Matrix<long int, -1, 1, 0, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32: required from ‘Derived& Eigen::PlainObjectBase::_set(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; Derived = Eigen::Matrix<int, -1, 1>]’
/usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase&) [with OtherDerived = Eigen::Matrix<long int, -1, 1, 0, -1, 1>; _Scalar = int; int _Rows = -1; int _Cols = 1; int _Options = 0; int _MaxRows = -1; int _MaxCols = 1]’
/usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:367:17: required from ‘Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>& Eigen::PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>::operator=(const Eigen::PermutationBase&) [with Other = Eigen::PermutationMatrix<-1, -1, long int>; int SizeAtCompileTime = -1; int MaxSizeAtCompileTime = -1; _StorageIndex = int]’
/home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:66:18: required from ‘void g2o::LinearSolverEigen::CholeskyDecomposition::analyzePatternWithPermutation(g2o::LinearSolverEigen::SparseMatrix&, const PermutationMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>; g2o::LinearSolverEigen::SparseMatrix = Eigen::SparseMatrix<double, 0>; g2o::LinearSolverEigen::PermutationMatrix = Eigen::PermutationMatrix<-1, -1, long int>]’
/home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:193:9: required from ‘void g2o::LinearSolverEigen::computeSymbolicDecomposition(const g2o::SparseBlockMatrix&) [with MatrixType = Eigen::Matrix<double, -1, -1>]’
/home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/linear_solver_eigen.h:98:37: required from ‘bool g2o::LinearSolverEigen::solve(const g2o::SparseBlockMatrix&, double*, double*) [with MatrixType = Eigen::Matrix<double, -1, -1>]’
/home/yubing/Documents/ORBSLAM2_with_pointcloud_map/orbslam2_modified/g2o_with_orbslam2/g2o/solvers/eigen/solver_eigen.cpp:111:1: required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY
#define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
^
/usr/include/eigen3/Eigen/src/Core/util/XprHelper.h:707:3: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
EIGEN_STATIC_ASSERT((internal::functor_is_product_like::ret
^
/usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: note: in expansion of macro ‘EIGEN_CHECK_BINARY_COMPATIBILIY’
EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,ty
^
g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/build.make:62: recipe for target 'g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o' failed
make[2]: *** [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/solver_eigen.cpp.o] Error 1
CMakeFiles/Makefile2:1955: recipe for target 'g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all' failed
make[1]: *** [g2o/solvers/eigen/CMakeFiles/solver_eigen.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

My result is not as perfect as yours in the viewer window

There are only three patches in red, black and green color, respectively in the viewer window and in the left down bottom there is a frame rate which continue to update. I don't know what reasons lead to this result. I am looking forward to your help. Thanks for your reading.

使用普通的单目摄像机就可以生成稠密图吗，对相机有要求吗

使用普通的单目摄像机就可以生成稠密图吗，对相机有要求吗

Question: which commit of Raúl Mur‘s ORB_SLAM2 this project is modified from?

hi, gaoxiang12:
I know this project was modified based on Raúl Mur-Artal's ORB_SLAM2, but based on which commit ? Thanks in advance :)

Is the "ORB_SLAM2_modified" only support by the "modified g2o"?

Is the "ORB_SLAM2_modified" only support by the "modified g2o"?When I try to build it,it make errors. Can I use the g2o lib that I compile in the original ORB_SLAM2?thanks

the size of the global map is 1

Hello,
I run it with kinect2 and all is right except that the global point only has a size of one
generate point cloud for kf 103, size=78939 show global map, size=1
but when use the dataset, it is OK